Design Of Cable-Based Manipulator

Developing technology and making technological innovations a part of human life, have become a necessity in these days. Because of man's limited physical strength, human controlled machines have been developed for jobs that require strength and continuity. With evolving technology, these machines are available to use in many areas including primarily in industrial, medical, home electronics and defense industries. In these different fields, the need for this machine has been the driving force for development of parallel manipulator. As a result of integration of this machine and automation systems, concept of today's robots has been formed. To use in different fields, robots, that have serial and parallel working system according to mechanical structures, have been developed. Importance of the parallel manipulator and evolutions of the systems using this mechanism are discussed. According to the usage of these systems on the importance of parallel manipulators are discussed.

In this study, general structure of cable based parallel manipulator which has 6 degrees of freedom has been introduced. Firstly analysis and modeling of the manipulator has been done and then mechanical design of parallel manipulator has been realized. While creating the system, a model based on the Stewart platform mechanism was used. Results of the simulation related to cable based model are presented in the study.