First steps toward a sketch-based design methodology for wire-driven manipulators
- Resource Type
- Conference
- Authors
- Lafourcade, P.; Llibre, M.
- Source
- Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003) Advanced intelligent mechatronics Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on. 1:143-148 vol.1 2003
- Subject
- Components, Circuits, Devices and Systems
Computing and Processing
Design methodology
Wire
Kinematics
Jacobian matrices
Force control
Acceleration
Virtual reality
Extremities
Pulleys
- Language
The aim of this article is to justify sketch-based design of wire-driven manipulators which use theoretical workspace as a criterion. In that way, we have stated the notion of theoretical workspace and some matrix algebra theorems that we have applied to the Jacobian matrix. Some examples illustrate our work. Use of sketches for the design of a punctual end-effector manipulator is easy. It is more difficult for the design of no-punctual end-effector manipulator.