Abstract
In this paper a circular-orbit underconstrained cable parallel robot is presented. A prototype has been built, and finite element analysis is conducted to check the deformation, stress and modes. The basic formulation, including the inverse kinematics of the circular-orbit underconstrained cable parallel robot and dynamics of the load are derived on the basis of geometric methodology and D’Alembert’s principle. Numerical simulation are conducted to verify the kinematic and dynamics. The proposed configuration can be used as a prototype for other three-cable underconstrained systems for precise lifting and assembling large and heavy components in engineering.
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Acknowledgements
This work was supported by the National Natural Science Foundation of China (51275515) and the Fundamental Research Funds for the Central Universities (2014HGCH0015). The authors appreciate the comments and valuable suggestions of anonymous referees and editors for improving the quality of the paper.
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Qian, S., Zi, B., Han, X. (2016). Design and Analysis of a Circular-Orbit Underconstrained Cable Parallel Robot. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_69
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DOI: https://doi.org/10.1007/978-3-319-23327-7_69
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