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This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipu-lator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism's dynamic is(More)
In this paper, we study the isotropic design of a 6-6 cable-suspended parallel robot to achieve its best kinematic performance. Dexterity of robot corresponds to its kinematic performance, i.e., if the robot is working at high dexterity; it has the best kinematic performance. This goal can be accomplished using the following techniques: (a) A pure symbolic(More)
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