Isotropic design of a 6-6 cable-suspended parallel robot

In this paper, we investigate the isotropic design of a 6-6 cable-suspended parallel robot. The isotropic conditions for Jacobian matrices, which mapping Cartesian and relative cable velocities are obtained separately using a pure symbolic method while ensure cable tension. The condition of cable tension is determined by using static equilibrium of the cablesuspended parallel robot. We accomplished this by making sure that components of null-space of Jacobian matrix have the same sign in the entire workspace. Also, we derived condition of cable tension by means of workspace volume. Upon derivation of isotropic conditions for manipulator, the variation of the global condition index with respect to the motion of the MP is studied to optimize the design parameters and show how far the manipulator is from being isotropic. Finally, the isotropic and cable tension conditions are obtained numerically for this manipulator.

کلیدواژه ها:

Isotropic design ، Cable-suspended parallel robot ، Kinematic performance