Journal of Jilin Institute of Chemical Technology, 2019, 36(11): 90-94    doi: 10.16039/j.cnki.cn22-1249.2019.11.021
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Design and Simulation Analysis of Spatial Parallelogram Cable-Loop Driven Parallel Robot
ZHOU Li,LI Yan
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Abstract  

A design scheme of carrying mechanism applying 6-cable-driven parallel robot is proposed based on the actual requirements of the outside wall maintenance and cleaning of a high-rise building. The spatial parallelogram structure is adopted to construct the cable-loop, and 4 motors are used to drive 6 cables, which can achieve the movement requirements of the carrying mechanism in both horizontal and vertical directions. The kinematics model of cable-loop driven parallel robot is established. The law of length variation of 6 cables is analyzed. The research lays a theoretical foundation for achieving motion control of the cable-loop parallel robot.

Key words cable-loop driven parallel robot      kinematic analysis      spatial structure      parallelogram structure      
Published: 25 November 2019
:  TH 138.5  
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ZHOU Li
LI Yan
Cite this article:   
ZHOU Li,LI Yan. Design and Simulation Analysis of Spatial Parallelogram Cable-Loop Driven Parallel Robot [J]. Journal of Jilin Institute of Chemical Technology, 2019, 36(11): 90-94.
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https://xuebao.jlict.edu.cn/EN/10.16039/j.cnki.cn22-1249.2019.11.021     OR     https://xuebao.jlict.edu.cn/EN/Y2019/V36/I11/90