Cable-suspended CPR-D type Parallel Robot

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.

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Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniajacą naukę.