Measurement of standing balance ability by a wire driven parallel mechanism
نویسندگان
چکیده
منابع مشابه
Wire-driven parallel robot: open issues
Wire-driven parallel robot (WDPR) is a special class of parallel robot in which the rigid legs are replaced by wires, with potential advantages in terms of intrusivity and workspace. Although the study of WDPR seems to be a well-addressed subject, we will show that there are still numerous challenging open issues in this
متن کاملMARIONET, a family of modular wire-driven parallel robots
We present several prototypes of wire-driven parallel robots that we have recently designed and which use two different actuation schemes. Two of them have been completed and submitted to extensive tests. These tests have allowed to determine interesting open problems related to kinematics that are presented.
متن کاملOn the accuracy of N − 1 wire-driven parallel robots
A N−1 wire-driven parallel robot is a robot for which all the N ≥ 3 wires are connected at the same point of the platform, allowing to control the location of this point. We are interested in the positioning accuracy of such a robot. If the wires are not elastic we show that the influence on the accuracy of the co-location errors of the wire anchor points on the platform is moderate, although a...
متن کاملComparison of actuation schemes for wire-driven parallel robots
There are two main systems that can be used to coil and uncoil the wires of a wire-driven parallel robots: a rotary motor that turns a drum on which the wire is coiled or a linear motor with a pulley system. The rotary category may be divided into two sub-categories: the system with a spiral guide for the coiling, allowing only layer for the wire and the system without guide, that allows for se...
متن کاملManaging the redundancy of N-1 wire-driven parallel robots
We consider wire-driven parallel robot with N ≥ 4 wires that are connected at the same point on the platform. Such robot has 3 d.o.f. but it is non redundant (e.g. we cannot control the tension in the wires) as there will always be only at most 3 wires under tension simultaneously. We consider in this paper three approaches that make this robot really redundant: elasticity in the wires, using c...
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: Transactions of the JSME (in Japanese)
سال: 2015
ISSN: 2187-9761
DOI: 10.1299/transjsme.14-00133