Kinematic analysis of a 5-DOF cable-driven robot based on Delta robot and tensegrity joint

Xinming Ji; Jingfeng He; Zhengmao Ye; Shaozu Sun; Xin Li; Yihang Wang

doi:10.1117/12.3007195

25 October 2023 Kinematic analysis of a 5-DOF cable-driven robot based on Delta robot and tensegrity joint

Xinming Ji, Jingfeng He, Zhengmao Ye, Shaozu Sun, Xin Li, Yihang Wang

Proceedings Volume 12801, Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023); 1280165 (2023) https://doi.org/10.1117/12.3007195
Event: Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023), 2023, Dalian, China

Abstract

The conventional Delta robot has a simple structure, high speed, and high motion accuracy, but it cannot meet the problem of robots with angular requirements because it has only three translational degrees of freedom. The tensegrity structure is composed of a series of discontinuous compression units and continuous tension units, which can form a lightweight and high stiffness structure by connecting independent rigid elements with elastic cables due to its light weight and flexible motion. Combining the Delta robot and the characteristics of the tensegrity structure, we design a 5- DOF robot and analyze its inverse kinematics.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xinming Ji, Jingfeng He, Zhengmao Ye, Shaozu Sun, Xin Li, and Yihang Wang "Kinematic analysis of a 5-DOF cable-driven robot based on Delta robot and tensegrity joint", Proc. SPIE 12801, Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023), 1280165 (25 October 2023); https://doi.org/10.1117/12.3007195

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