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Analysis and Design of Cable-Driven Parallel Mechanisms

Prototype Development. Tension Conditions. Introduction. t. t. t. m. m. m. F. p. F. F. t. t. t. p. p. 1. 1. 1. Researchers : A/P Yeo Song Huat , Dr. Yang Guilin, Dr . Pham Cong Bang. Analysis and Design of Cable-Driven Parallel Mechanisms.

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Analysis and Design of Cable-Driven Parallel Mechanisms

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  1. Prototype Development Tension Conditions Introduction t t t m m m F p F F t t t p p 1 1 1 Researchers : A/P Yeo Song Huat, Dr. Yang Guilin, Dr. Pham Cong Bang Analysis and Design of Cable-Driven Parallel Mechanisms Objective: To establish fundamental tools for tension analysis of cable-driven parallel mechanisms (CDPM), to formulate the kinematics, dynamics and performance analysis of CDPM systematically, and to develop optimal design methodologies for CDPM. • Features: • Simple light-weight mechanical structure, resulting in low energy consumption. • Low inertial moment, high acceleration and high speed motion. • Large reachable workspace, limited mainly by cable lengths and cable tension constraints. • Easy reconfigurability by relocating platform connecting points and base suspending points. m  n + 1 m = n + 1 m  n + 1 (m: number of cables; n: number of degrees of freedom) Force-closure condition Feasible wrench condition Wrench set condition Research issues Cable Driving Unit (CDU)

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