KINEMATIC MODELLING AND ANALYSIS OF A WIRE-ACTUATED PARALLEL MANIPULATOR

摘要

The kinematic modelling and analysis of a 4 degrees of freedom wire-actuated parallel manipulator with redundant actuation is investigated. The manipulator employs combinations of rigid links, joints and wires. Hybrid actuation of joints and wires, two actuated joints and three actuated wires, is used. Position and first and second order kinematics of the closed-loop manipulator are formulated based on matrix exponentials. The transfer of first and second order kinematic variables, i.e., wire/joint velocities and accelerations, among the manipulator task space coordinates, active and passive joint coordinates and wire lengths are provided.