Dynamic analysis of a hybrid cable-suspended planar manipulator

Mahdi Bamdad; Farzin Taheri; Niloofar Abtahi

ICRA 2015poster37 citations

Dynamic analysis of a hybrid cable-suspended planar manipulator

Mahdi Bamdad, Farzin Taheri, Niloofar Abtahi

Abstract

This idea introduces a tilting angle amplification system for the cable planar parallel robots. The end-effector rotation capability is increased by adding a serial linkage to the parallel platform. The hybrid serial-parallel robot has the features of both of the parallel manipulator and the serial manipulator. The manipulator is modeled in terms of full dynamics using Newton-Euler and Lagrange methods based analytical approaches.

BibTeX

@inproceedings{icra2015_dynamicanalysiso,
  title = {Dynamic analysis of a hybrid cable-suspended planar manipulator},
  author = {Mahdi Bamdad and Farzin Taheri and Niloofar Abtahi},
  booktitle = {ICRA 2015},
  year = {2015}
}