Analysis and Development of a 6-DOF Manipulator Combining a Articulated Manipulator with a Cable-Driven Parallel Platform
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| Publicado en: | Journal of Robotics and Mechatronics vol. 37, no. 6 (Dec 2025), p. 1508 |
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| Autor Principal: | |
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| Publicado: |
Fuji Technology Press Co. Ltd.
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| Acceso en liña: | Citation/Abstract Full Text - PDF |
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| 022 | |a 0915-3942 | ||
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| 024 | 7 | |a 10.20965/jrm.2025.p1508 |2 doi | |
| 035 | |a 3284800235 | ||
| 045 | 2 | |b d20251201 |b d20251231 | |
| 100 | 1 | |a Sakurai Shunichi |u Keio University 3-14-1 Hiyoshi, Kohoku-ku, Yokohama, Kanagawa 223-8522, Japan sakurai@katsura.sd.keio.ac.jp | |
| 245 | 1 | |a Analysis and Development of a 6-DOF Manipulator Combining a Articulated Manipulator with a Cable-Driven Parallel Platform | |
| 260 | |b Fuji Technology Press Co. Ltd. |c Dec 2025 | ||
| 513 | |a Journal Article | ||
| 520 | 3 | |a In the design of robotic manipulators, achieving dexterity within a large workspace along with structural lightness remains a significant challenge. Conventional industrial robots, including serial and parallel robots, suffer from a trade-off between weight and workspace dexterity. In contrast, cable-driven parallel robots (CDPRs) offer excellent lightweight performance and a large workspace. However, their applicability is limited because their workspaces are constrained by surrounding frames. This paper is related to a 6-DOF manipulator that integrates an articulated manipulator with a CDPR. The end effector is a platform whose orientation is directly controlled by four cables, enabling 6-DOF motion with a lightweight structure. The manufactured prototype and architecture, as well as mechanisms involved in the efficient transmission of cable tensile forces, are detailed. The forward kinematics is analyzed, and the numerical solution using the Newton–Raphson method is reviewed. Simulations are conducted to validate the solution and confirm its feasibility. Furthermore, a position control method that incorporates platform statics is introduced. Experimental results confirm the trajectory tracking performance in both translational and orientational motions. | |
| 653 | |a Robots | ||
| 653 | |a Newton-Raphson method | ||
| 653 | |a Control methods | ||
| 653 | |a Workspace | ||
| 653 | |a End effectors | ||
| 653 | |a Robot dynamics | ||
| 653 | |a Degrees of freedom | ||
| 653 | |a Robot arms | ||
| 653 | |a Cables | ||
| 653 | |a Manipulators | ||
| 653 | |a Industrial robots | ||
| 653 | |a Kinematics | ||
| 700 | 1 | |a Katsura Seiichiro |u Keio University 3-14-1 Hiyoshi, Kohoku-ku, Yokohama, Kanagawa 223-8522, Japan sakurai@katsura.sd.keio.ac.jp | |
| 773 | 0 | |t Journal of Robotics and Mechatronics |g vol. 37, no. 6 (Dec 2025), p. 1508 | |
| 786 | 0 | |d ProQuest |t Advanced Technologies & Aerospace Database | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3284800235/abstract/embedded/H09TXR3UUZB2ISDL?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text - PDF |u https://www.proquest.com/docview/3284800235/fulltextPDF/embedded/H09TXR3UUZB2ISDL?source=fedsrch |