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D. Zanotto, G. Rosati, and A. Rossi
Performance analysis of planar cable-based parallel manipulators
In Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis ESDA2010-25282, Istanbul, Turkey, July 12-14 2010

Abstract: In the last two decades, many research works have been published on cable-based systems, reflecting the considerable interest of the scientific community in this area. Cables are used both in serial structures, to remotely actuate rigid links, and in parallel structures, to directly control the motion of a mobile platform or end-effector. The latter subclass is particularly appealing, thanks to ease of design, high payload-to-weight ratio, potentially high dynamic performances and wide workspace. Such devices have also been effectively employed in haptics, since the use of light-weight elements allows to develop structures with low mechanical impedance. Unilateral actuation represents a major issue in the study of cable-based devices, often forcing to adopt specially formulated design tools. The main focus of this paper is on a synthesis of the main performance indices that can be used for both the design optimization and the design analysis. A comparison of the kinematic and dynamic performances of three prototypes of planar cable-based parallel manipulators is presented.


Topic: Haptic Interfaces
Activity: FeRiBa3: 2D haptic interface

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