Cable Routing Design and Performance Evaluation for Multi-Link Cable-Driven Robots With Minimal Number of Actuating Cables
نویسندگان
چکیده
منابع مشابه
Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables
In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...
متن کاملstability analysis and robust pid control of cable driven robots considering elasticity in cables
in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...
متن کاملCable-suspended planar parallel robots with redundant cables: controllers with positive cable tensions
Cable-suspended robots are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the end-effector but not push it. From a scientific point of view, this feature makes feedback control of cable-suspended robots lot more challenging than their counterpart parallel-actuated robots. In the case with redundant cables, feedback control laws can...
متن کاملDynamic Analysis and Control of Cable Driven Robots with Elastic Cables
In this paper modeling and control of cable driven redundant parallel manipulators with flexible cables, are studied in detail. Based on new results, in fully constrained cable robots, cables can be modeled as axial linear springs. Considering this assumption the system dynamics formulation is developed using Lagrange approach. Since in this class of robots, all the cables should remain in tens...
متن کاملPlanar Cable-Direct-Driven Robots: Design for Wrench Exertion
PLANAR CABLE-DIRECT-DRIVEN ROBOTS: DESIGN FOR WRENCH EXERTION Robert L. Williams II Department of Mechanical Engineering Ohio University Athens, Ohio Paolo Gallina Dipartimento di Innovazione Meccanica e Gestionale University of Padova Padova, Italy Journal of Intelligent and Robotic Systems Vol. 35, pp. 203-219 2002
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Access
سال: 2019
ISSN: 2169-3536
DOI: 10.1109/access.2019.2924982