Differential Noncircular Pulleys for Cable Robots and Static Balancing
نویسندگان
چکیده
منابع مشابه
Geometrico-static Analysis of Under-constrained Cable-driven Parallel Robots
This paper studies the kinematics and statics of cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, together with a general procedure aimed at effectively solving, in analytical form, the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, fo...
متن کاملInterval Analysis of Controllable Workspace for Cable Robots
Workspace analysis is one of the most important issues in the robotic parallel manipulator design. However, the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...
متن کاملinterval analysis of controllable workspace for cable robots
workspace analysis is one of the most important issues in the robotic parallel manipulator design. however, the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...
متن کاملSpring Gravity Compensation Using the Noncircular Pulley and Cable For the Less-Spring Design
This work proposed a new method for a gravity compensation using the noncircular pulley, cable driving, and spring balancer. The noncircular pulley is arranged in the front of one transmission chain. When the mechanism apply this method for the gravity compensation of some multi-DOF and multilink manipulator, it can be achieved that a perfect gravity balance and less number of springs. To obtai...
متن کاملDirect Geometrico-static Problem of Underconstrained Cable-Driven Parallel Robots With $n$ Cables
The direct geometrico-static problem of cable-driven parallel robots with 5 cables is presented. The study provides procedures for the identification of all equilibrium poses of the end-effector when cable lengths are assigned. A leastdegree univariate polynomial in the ideal governing the problem is obtained, thus showing that the latter has 140 solutions in the complex field. By a continuatio...
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: Journal of Mechanisms and Robotics
سال: 2018
ISSN: 1942-4302,1942-4310
DOI: 10.1115/1.4041213