Analysis and Design of Cable-Driven Parallel Mechanisms
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Faculty of Mechanical Engineering, Ho Chi Minh City University Of Technology 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City Analysis and Design of Cable-Driven Parallel Mechanisms Researchers : A/P Yeo Song Huat, Dr. Yang Guilin, Dr. Pham Cong Bang 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. Introduction 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. Tension Conditions Prototype Development t 1 t m F p t 1 t m F p m n + 1 m = n + 1 m n + 1 t 1 t m F p Force-closure condition Feasible wrench condition Wrench set condition (m: number of cables; n: number of degrees of freedom) Cable Driving Unit (CDU) Research issues Tensionanalysis Kinematicmodelling Dynamicmodelling W orkspaceanalysis Optimal design Trajectoryplanning Prototype development Motioncontrol M otor W inch Timing belt U serInterface Connection box CDU Cable Roller H om e m echanism M oving platform
description
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. - PowerPoint PPT Presentation
Transcript of Analysis and Design of Cable-Driven Parallel Mechanisms
Faculty of Mechanical Engineering, Ho Chi Minh City University Of Technology268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City
Tension analysis
Kinematic modelling Dynamic modelling
Workspace analysis
Optimal design Trajectory planning
Prototypedevelopment Motion control
Analysis and Design of Cable-Driven Parallel Mechanisms
Researchers : A/P Yeo Song Huat, Dr. Yang Guilin, Dr. Pham Cong Bang
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.
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.
Introduction
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.
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.
Tension Conditions
Prototype Development
Motor
WinchTimingbelt
t1
tm
Fp t1
tm
Fp
m n + 1 m = n + 1 m n + 1
t1
tm
Fp
Force-closurecondition
Feasible wrenchcondition
Wrench setcondition
(m: number of cables; n: number of degrees of freedom)
Cable Driving Unit (CDU)
Research issues
User Interface
Connection box
CDU
Cable Roller
Home mechanismMoving platform
