Design Of Cable-Based Manipulator

Yıl 2016, Cilt: 5 , 248 - 252, 07.11.2016

Ali Aktaş

Öz

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.  

Anahtar Kelimeler

Parallel manipulator, Stewart platform, Cable base manipulator

Kaynakça

• J.-P. MERLET “Parallel Robots” (Second Edition) Springer
• Tobias Bruckmann• Andreas Pott “Cable-Driven Parallel Robots” Springer
• Dan Zhang “Parallel Robotic Machine Tools” Springer
• A. Dumlu ve K. Erentürk "Kablo Tabanlı Paralel Manipülatör Dizaynı ve İleri Kinematik Probleminin Sylvester EliminasyonYöntemi ile Çözümü" Fırat Üniversitesi Elazığ
• Y. D. Patel and P. M. George "Parallel Manipulators Applications – A Survey"Modern Mechanical Engineering, 2012, 2,
• K.Yu"Simultaneous Trajectory Tracking And Stiffness Control Of Cable Driven Parallel Manipulator" 2008