Dynamic load-carrying capacity of cable-suspended parallel manipulators

作者：Korayem M H^*; Bamdad M

来源：International Journal of Advanced Manufacturing Technology, 2009, 44(7-8): 829-840.

DOI：10.1007/s00170-008-1890-x

• Parallel manipulator
• Cable robot
• Dynamic performance
• Load-carrying capacity

In this paper, a computational method for obtaining maximum dynamic load-carrying capacity (DLCC) of the cable-suspended parallel manipulator is developed. The manipulator is assumed to be a rigid manipulator and the joint actuator torque and cable tension force capacities are considered as the major limiting factors in determining the maximum payload. The maximum dynamic payload-carrying capacity of the manipulator is established while the dynamic model of a typical actuator system is used in the joint actuator force capacity for a given trajectory. The proposed constraint completes a common framework for dynamic characterization of a cable-suspended parallel robot. The 3 and 6 degrees of freedom cable robots are presented for computing the maximum DLCC.

• 出版日期2009-10