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Kinematics of the wire-driven parallel robot MARIONET using linear actuators

Jean-Pierre Merlet 1, *
* Corresponding author
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : Wire-driven parallel robots are special types of Gough-Stewart platform in which the rigid extensible legs are substituted by extensible wires. Usually wire length change is obtained by coiling the wire on a drum actuated by a rotary motor. We present here a robot using linear actuator and a pulley system allowing a higher modularity of the actuation system. The kinematics of this redundant system (the system has 7 wires), taking into account the elasticity of the wires, is presented. Inverse kinematics may be solved either by first choosing the wire tensions, the control vector being then a linear function of the tensions or by solving directly a system of non linear equations whose unknowns are the components of the control vector. Forward kinematics is a much more complex issue, involving the solving of a large system. We present a solving approach but this problem remains an open issue.
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https://hal.archives-ouvertes.fr/hal-00172932
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Submitted on : Tuesday, September 18, 2007 - 2:41:09 PM
Last modification on : Saturday, April 7, 2018 - 1:20:26 AM
Long-term archiving on: : Friday, April 9, 2010 - 2:23:23 AM

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Jean-Pierre Merlet. Kinematics of the wire-driven parallel robot MARIONET using linear actuators. 2007. ⟨hal-00172932⟩

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