A numerical algorithm for solving the real-time forward solution of cable-driven parallel robots with redundant constraints was presented. The kinematics model of 6-DOF cable …
A wire-driven parallel manipulator is a closed-loop mechanism where the moving platform is connected to the base via wires by multitude of independent kinematic chains. The number …
郑亚青, 刘雄伟 - Journal of Mechanical Engineering, 2005 - qikan.cmes.org
Based on the inverse kinematics equations, some general results on the velocities and accelerations of wires used for motion trajectory planning of 6-DOF wire-driven PKMs have …