Toward the Creation of a Hybrid 4-UPS CDPR

نویسندگان

چکیده

A hybrid cable-driven parallel robot (CDPR) is being developed that expands the capabilities of conventional CDPRs by replacing one cables with a linear actuator can be spooled and extended. This uses three curved leaf springs connected using magnetic strips to provide compressive or tensile forces while very compactly stored, kinematically similar cable push. When used in conjunction suspended CDPR, this designed part novel pick-and-place combines benefits robots (lightweight actuators) those manipulator (each actuators above workspace help avoid collisions). The developments are outlined, showing how pointing motions were made possible through mechanical design.

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ژورنال

عنوان ژورنال: Mechanisms and machine science

سال: 2023

ISSN: ['2211-0992', '2211-0984']

DOI: https://doi.org/10.1007/978-3-031-32322-5_26