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Dexterous Workspace Analysis of Planar Cable-driven Parallel Mechanism and Configuration Optimization

Hao Li

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Abstract

Dexterous workspace is an important index of parallel mechanisms.The planar cable-driven parallel mechanism is discussed in this paper.The dexterous workspace is related with the configuration of the mechanism.First,static model of the planar mechanism is presented.Based on the static model,the method of computing the dexterous workspace and the numerical example are stated.The parameters of the cables anchoring on the moving platform and base frame are optimized to realize the configuration of the mechanism by Genetic Algorithm.

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What this paper is about

Dexterous workspace is an important index of parallel mechanisms.The planar cable-driven parallel mechanism is discussed in this paper.The dexterous workspace is related with the configuration of the mechanism.First,static model of the planar mechanism is presented.Based on the static model,the method of computing the dexterous workspace and the numerical example are stated.The parameters of the cables anchoring on the moving platform and base frame are optimized to realize the configuration of the mechanism by Genetic Algorithm.

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Available abstract

Dexterous workspace is an important index of parallel mechanisms.The planar cable-driven parallel mechanism is discussed in this paper.The dexterous workspace is related with the configuration of the mechanism.First,static model of the planar mechanism is presented.Based on the static model,the method of computing the dexterous workspace and the numerical example are stated.The parameters of the cables anchoring on the moving platform and base frame are optimized to realize the configuration of the mechanism by Genetic Algorithm.

Key concepts: Workspace, Mechanism (biology), Planar, Frame (networking), Computer science, Anchoring, Simulation, Engineering

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