Mass design method considering force control errors for two-redundant cable-suspended parallel robots
Mechanism and Machine Theory(2022)
摘要
•Three design indexes were proposed to analyze the wrench-feasibility for cable-suspended parallel robots from a new perspective.•Comprehensive methodology is devised to design the mass (gravity) of the end-effector.•The methodology enables the selection of the force-controlled cable set from the possible combinations.
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关键词
Cable-suspended parallel robots,Force distribution,Hybrid joint-space control strategy,Design index
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