Zarif Loloei, A., Taghirad, H. D., N. Kouchmeshky, N.. (1392). Interval Analysis of Controllable Workspace for Cable Robots. نشریه مهندسی عمران امیرکبیر, 45(1), 1-8. doi: 10.22060/eej.2013.423
A. Zarif Loloei; H. D. Taghirad; N. N. Kouchmeshky. "Interval Analysis of Controllable Workspace for Cable Robots". نشریه مهندسی عمران امیرکبیر, 45, 1, 1392, 1-8. doi: 10.22060/eej.2013.423
Zarif Loloei, A., Taghirad, H. D., N. Kouchmeshky, N.. (1392). 'Interval Analysis of Controllable Workspace for Cable Robots', نشریه مهندسی عمران امیرکبیر, 45(1), pp. 1-8. doi: 10.22060/eej.2013.423
Zarif Loloei, A., Taghirad, H. D., N. Kouchmeshky, N.. Interval Analysis of Controllable Workspace for Cable Robots. نشریه مهندسی عمران امیرکبیر, 1392; 45(1): 1-8. doi: 10.22060/eej.2013.423

Interval Analysis of Controllable Workspace for Cable Robots

AUT Journal of Electrical Engineering
مقاله 1، دوره 45، شماره 1، 2013، صفحه 1-8    اصل مقاله (566.25 K)
نوع مقاله: Research Article
شناسه دیجیتال (DOI): 10.22060/eej.2013.423
نویسندگان
A. Zarif Loloei* 1؛ H. D. Taghirad2؛ N. N. Kouchmeshky3
1Assistant Professor, Department of Electrical Engineering, Pardis Branch, Islamic Azad University, Pardis, Tehran, Iran
2Professor, Department of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran
3M.Sc. Student, Department of Computer Engineering, Arak Branch, Islamic Azad University, Arak, Iran
چکیده
Workspace analysis is one of the most important issues in the robotic parallel manipulator design.
‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cable
driven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cable
driven redundant parallel manipulators due to the dependency on geometry parameters in the cable driven
redundant parallel manipulators. In this paper, a novel tool is presented based on interval analysis for
determination of ‎the boundaries and proper assessment of the enclosed region of controllable workspace of
cable-driven redundant parallel manipulators. This algorithm utilizes the fundamental wrench interpretation
to analyze the controllable workspace of cable driven redundant parallel manipulators. Fundamental wrench
is the newly definitions that opens new horizons for physical interpretation of controllable workspace of
general cable driven redundant parallel manipulators. ‎Finally, ‎the proposed method is implemented on a
spatial cable driven redundant manipulator of interest.
کلیدواژه‌ها
Controllable Workspace؛ Interval Analysis؛ Cable Driven Redundant Parallel Manipulator؛ Fundamental Wrench؛ Boundary of Workspace؛ Unidirectional Constraint
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