This paper deals with the design of singularity-free cable-driven parallel mechanism. Due to the negative effect on the performance, singularities should be avoided in the design. The singular configurations of mechanisms can be numerically determined by calculating the rank of its Jacobian matrix. However, this method is inefficient and non-intuitive. In this paper, we investigate the singularities of planar and spatial cable-driven parallel mechanisms using Grassmann line geometry. Considering cables as line vectors in projective space, the singularity conditions are identified with clear geometric meaning which results in useful method for singularity analysis of the cable-driven parallel mechanisms. The method is applied to 3-DOF planar and 6-DOF spatial cable-driven mechanisms to determine their singular configurations. The results show that the singularities of both mechanisms can be eliminated by changing the dimensions of the mechanisms or adding extra cables.
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ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 12–15, 2012
Chicago, Illinois, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-4503-5
PROCEEDINGS PAPER
On the Design of Singularity-Free Cable-Driven Parallel Mechanism Based on Grassmann Geometry
Yuru Zhang,
Yuru Zhang
Beihang University, Beijing, China
Shanghai Jiao Tong University, Shanghai, China
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Yaojun Zhang
Yaojun Zhang
Beihang University, Beijing, China
Search for other works by this author on:
Yu Zou
Beihang University, Beijing, China
Yuru Zhang
Beihang University, Beijing, China
Shanghai Jiao Tong University, Shanghai, China
Yaojun Zhang
Beihang University, Beijing, China
Paper No:
DETC2012-71076, pp. 851-858; 8 pages
Published Online:
September 9, 2013
Citation
Zou, Y, Zhang, Y, & Zhang, Y. "On the Design of Singularity-Free Cable-Driven Parallel Mechanism Based on Grassmann Geometry." Proceedings of the ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B. Chicago, Illinois, USA. August 12–15, 2012. pp. 851-858. ASME. https://doi.org/10.1115/DETC2012-71076
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