Cable-direct-driven-robot (CDDR) with a 3-link passive serial support

Cable-direct-driven robots(CDDRs)providedwithapassiveserialsupportrepresentaninterestingand rising evolutionofplanarcablerobots.ThepaperisdevotedtopresentandanalyzeanovelCDDRrobot. The robotconsistsinafullyactuatedCDDRsupportedagainstloadingnormaltothemotionplanewitha 3-link passiveplanarserialmanipulator.Thishybridstructurecombinespositivefeaturesofbothparallel and serialarchitectures,andpreventsout-of-planemovementswithoutthenecessityfortherobottobe supported onthemotionplane.Theadoptionofa3-linkserialmanipulatorensuresagreaterworkspace area comparedwithsimilarstructuresthatadoptasmallernumberoflinks,andimprovesspecific characteristicsoftheirdynamics.Neverthelessundesiredoscillationsmayoccursincetheserial manipulator isunderconstrained.Forthisreasondampingelementsareinsertedinthestructure. Simulation examplesarepresentedtodemonstratethenovelCDDRconceptanditsdynamics.In addition, astrategytoselectpropervaluesofdampingcoefficients ispresented.

Titolo: Cable-direct-driven-robot (CDDR) with a 3-link passive serial support
Autori: 
GALLINA, PAOLO
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Data di pubblicazione: 2014
Rivista: 
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING  
Abstract: Cable-direct-driven robots(CDDRs)providedwithapassiveserialsupportrepresentaninterestingand rising evolutionofplanarcablerobots.ThepaperisdevotedtopresentandanalyzeanovelCDDRrobot. The robotconsistsinafullyactuatedCDDRsupportedagainstloadingnormaltothemotionplanewitha 3-link passiveplanarserialmanipulator.Thishybridstructurecombinespositivefeaturesofbothparallel and serialarchitectures,andpreventsout-of-planemovementswithoutthenecessityfortherobottobe supported onthemotionplane.Theadoptionofa3-linkserialmanipulatorensuresagreaterworkspace area comparedwithsimilarstructuresthatadoptasmallernumberoflinks,andimprovesspecific characteristicsoftheirdynamics.Neverthelessundesiredoscillationsmayoccursincetheserial manipulator isunderconstrained.Forthisreasondampingelementsareinsertedinthestructure. Simulation examplesarepresentedtodemonstratethenovelCDDRconceptanditsdynamics.In addition, astrategytoselectpropervaluesofdampingcoefficients ispresented.
Handle: http://hdl.handle.net/11368/2758362
Digital Object Identifier (DOI): http://dx.doi.org/10.1016/j.rcim.2013.10.006
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