Please use this identifier to cite or link to this item: https://doi.org/10.1177/0954406213502590
Title: Forward kinematics analysis and experimental validation of a four-cable-driven under-constrained parallel mechanism
Authors: Zhu, Z.-C.
Chen, P.C. 
Shao, X.-G.
Wang, Q.-G. 
Chen, G.-A.
Keywords: cable-driven parallel mechanism
Forward kinematics
tension state
Issue Date: 2014
Citation: Zhu, Z.-C., Chen, P.C., Shao, X.-G., Wang, Q.-G., Chen, G.-A. (2014). Forward kinematics analysis and experimental validation of a four-cable-driven under-constrained parallel mechanism. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228 (7) : 1235-1247. ScholarBank@NUS Repository. https://doi.org/10.1177/0954406213502590
Abstract: Taking the sinking winch mechanism as prototype, this paper studies the forward kinematics problem of a four-cable-driven under-constrained parallel mechanism. The tension states (slackness and tautness) and properties of the cables are incorporated into the forward kinematics model. We propose a new algorithm (named traversal algorithm) to solve the tensions in cables and the pose of platform, under the condition that only the lengths of four cables are known. The simulation and experimental results on forward kinematics demonstrate the effectiveness and correctness of the model and the traversal algorithm. The results of this paper can be used to evaluate the effect of the unequal cables' lengths to the tension distribution of cables and pose of the platform for sinking winch mechanism. © IMechE 2013.
Source Title: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
URI: http://scholarbank.nus.edu.sg/handle/10635/82379
ISSN: 20412983
DOI: 10.1177/0954406213502590
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