Real-Time Cable Force Calculation beyond the Wrench-Feasible Workspace
نویسندگان
چکیده
منابع مشابه
Modeling and Wrench Feasible Workspace Analysis of a Cable Suspended Robot for Heavy Loads Handling
Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and app...
متن کاملModeling and Wrench Feasible Workspace Analysis of a Cable Suspended Robot for Heavy Loads Handling
Cable suspended robots support a moving platform (MP) in space by several spatially arranged cables with computer-controlled winches. The winches are mounted on base platform (BP). Compared to conventional robots, it is possible to control not only the translational motion of the payload but also its orientation in order to perform, for example, loads handling. By this, cable suspended robots c...
متن کاملNavigating the Wrench-Feasible C-Space of Cable-Driven Hexapods
Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack –to keep the control of the platform– nor excessively tight –to prevent cable breakage– even in the presence of bounded perturbations of the wrench. This paper proposes a path...
متن کاملmodeling and wrench feasible workspace analysis of a cable suspended robot for heavy loads handling
modeling and wrench feasible workspace analysis of a spatial cable suspended robots is presented. a six-cable spatial cable robot is used the same as stewart robots. due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied...
متن کاملOn the Boundaries of the Wrench-closure Workspace of Planar Parallel Cable-driven Mechanisms
The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses for which any wrench can be produced at the end-effector by a set of a non-negative cable tensions. It is already known that the boundary of the constant-orientation wrench-closure workspace of a planar parallel cable-driven mechanism is composed of segments of conic sections. Howevel; the relationship between ...
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ژورنال
عنوان ژورنال: Robotics
سال: 2020
ISSN: 2218-6581
DOI: 10.3390/robotics9020041