Cable-suspended CPR-D type Parallel Robot

Filipovic, M.; Djuric, A.

doi:10.15632/jtam-pl.54.2.645

Artykuł - szczegóły

Tytuł artykułu

Cable-suspended CPR-D type Parallel Robot

Autorzy

Filipovic M. , Djuric A.

Treść / Zawartość

Pełne teksty:

Filipovic_Djuric_Cable-suspended_54_2_2016.pdf

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Identyfikatory

DOI

10.15632/jtam-pl.54.2.645

Warianty tytułu

Języki publikacji

Abstrakty

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.

Słowa kluczowe

cable-suspended parallel robot camera observation kinematics dynamics

Wydawca

Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej

Czasopismo

Journal of Theoretical and Applied Mechanics

Rocznik

2016

Tom

Vol. 54 nr 2

Strony

645--657

Opis fizyczny

Bibliogr. 34 poz., rys., tab.

Twórcy

autor

Filipovic M.

mira@robot.imp.bg.ac. rs

Mihajlo Pupin Institute, University of Belgrade, Belgrade, Serbia

autor

Djuric A.

ana.djuric2@wayne.edu

Wayne State University, Detroit, U.S.A

Bibliografia

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Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniajacą naukę.

Typ dokumentu

Bibliografia

Identyfikator YADDA

bwmeta1.element.baztech-985eaddd-38ec-42f1-b1b3-6bc7e9f03173