A New Wire-Driven Three Degree-of-Freedom Parallel Manipulator

[+] Author and Article Information
KeJun Ning

The Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200030, P.R. Chinankj@sjtu.org

MingYang Zhao

Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110015, P.R. China

Jie Liu

School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, P.R. China

J. Manuf. Sci. Eng 128(3), 816-819 (Jan 15, 2006) (4 pages) doi:10.1115/1.2194061 History: Received June 27, 2005; Revised January 15, 2006

This paper puts forward a new wire-driven parallel manipulator. The mechanism and implementation scheme are presented in detail. Some theoretical and simulation results are introduced briefly. A prototype system, named HN-4MX, has been completed. Some experiments testify to the feasibility of the new wire-driven system. This manipulator has some advantages, which can be useful in industrial field. We predict its industrial application in this paper.

Copyright © 2006 by American Society of Mechanical Engineers
Topics: Wire , Manipulators , Tension
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Figure 1

The wire-driven 3-DOF parallel manipulator prototype HN-4MX

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Figure 2

The schematic mechanism of the new PKM and a scheme of “Hooke-sliding joint”

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Figure 3

A configuration schematic of the new wire-driven parallel manipulator

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Figure 4

A detailed design of the new wire-driven parallel manipulator

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Figure 5

Coordinate frame of the new PKM

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Figure 6

Error analysis simulation

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Figure 7

Credible workspace plots of HN-4MX

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Figure 8

Picture and words performed by HN-4MX

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Figure 9

Schematic plan of the new wire-driven manipulator working in product line



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