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Design and Development of a Reconfigurable Cable Parallel Robot
並列摘要
This paper presents a reconfigurable cable parallel robot, which spatial topology can be reconfigured through managing the branch numbers and the hoisting points of the end-effector. An experimental prototype of the reconfigurable cable parallel robot is designed and developed. A typical configuration of the reconfigurable cable parallel robot is analyzed as a case study. The finite element analysis of the chosen configuration is conducted to check the deformation, stress and modes. The virtual prototype is established considering the mass and elasticity of the cable. The preliminary inverse kinematics is derived. Numerical simulation are carried out to verify the cooperation of modular branches and feasibility of the reconfigurable cable parallel robot.
延伸閱讀
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- Ko, W. Y. (2003). The design of a representation and analysis method for modular self-reconfigurable robots [master's thesis, The University of Hong Kong]. Airiti Library. https://www.airitilibrary.com/Article/Detail?DocID=U0029-1812201200003732
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- Pan, C. C. (2011). Hardware Design for Self-reconfigurable Modular Robot with Algorithms for Reconfiguration Planning [master's thesis, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU.2011.00887
- 伍祈穎（2016）。Implementation and Positioning for Multi-Degree-of-Freedom Cable Suspension Robot〔碩士論文，健行科技大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0022-2707201617242600