ARTICLE
Cable-suspended CPR-D type parallel robot
 
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1
Mihajlo Pupin Institute, University of Belgrade, Belgrade
2
Wayne State University, Detroit
 
Journal of Theoretical and Applied Mechanics 2016;54(2):645–657
 
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ABSTRACT
This paper deals with the analysis and synthesis of a newly selected Cable-suspended Parallel Robot configuration, named CPR-D system. The camera carrier workspace has the shape of a parallelepiped. The CPR-D system has a unique Jacobian matrix that maps the relationship between internal and external coordinates. This geometric relationship is a key solution for the definition of the system kinematic and dynamic models. Because of the CPR-D system complexity, the Lagrange principle of virtual work has been adapted. Two significant Examples have been used for the CPR-D system analysis and validation.
eISSN:2543-6309
ISSN:1429-2955