Inverse kinematics and singularity analysis for a 3-DOF hybrid-driven cable-suspended parallel robot

  • Zi B
  • Wu X
  • Lin J
 et al. 
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Abstract

This paper addresses the kinematics and graphical representation of the singularity configuration of a hybrid-driven cable-suspended parallel robot (HDCPR) with three translational degrees of freedom (DOFs). Applying the closed-loop vector method and geometric methodology, inverse kinematics of the HDCPR needed for singularity analysis is performed. For the sake of singularity condition calculation within the reachable workspace, the procedure utilizing analytical methodology and gradual search algorithm is presented. Simulation results demonstrate the validity of the kinematics and singularity analysis developed. [ABSTRACT FROM AUTHOR] Copyright of International Journal of Advanced Robotic Systems is the property of In Tech D.O.O. and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Author-supplied keywords

  • Cable parallel robot
  • Hybrid-driven planar five-bar mechanism
  • Inverse kinematics
  • Singularity

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