Journal of Theoretical
and Applied Mechanics

54, 2, pp. 645-657, Warsaw 2016
DOI: 10.15632/jtam-pl.54.2.645

Cable-suspended CPR-D type parallel robot

Mirjana Filipovic, Ana Djuric
This paper deals with the analysis and synthesis of a newly selected Cable-suspended Parallel Robot configuration, named CPR-D system. The camera carrier workspace has the shape of a parallelepiped. The CPR-D system has a unique Jacobian matrix that maps the relationship between internal and external coordinates. This geometric relationship is a key solution for the definition of the system kinematic and dynamic models. Because of the CPR-D system complexity, the Lagrange principle of virtual work has been adapted. Two significant Examples have been used for the CPR-D system analysis and validation.
Keywords: cable-suspended parallel robot, camera observation, kinematics, dynamics