CABLE-SUSPENDED CPR-D TYPE PARALLEL ROBOT
| Main Authors: | Filipovic, Mirjana, Djuric, Ana |
|---|---|
| Format: | Article |
| Terbitan: |
, 2017
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| Subjects: | |
| Online Access: |
https://zenodo.org/record/1119551 |
Daftar Isi:
- This paper deals with the analysis and synthesis of a newly selected Cable-suspended Parallel Robot configuration, named CPR-D system. The camera carrier workspace has the shape of a parallelepiped. The CPR-D system has a unique Jacobian matrix that maps the relationship between internal and external coordinates. This geometric relationship is a key solution for the definition of the system kinematic and dynamic models. Because of the CPR-D system complexity, the Lagrange principle of virtual work has been adapted. Two significant Examples have been used for the CPR-D system analysis and validation.