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EnglishCable-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: | |
| Data di pubblicazione: | 2014 |
| Rivista: | |
| 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): | 10.1016/j.rcim.2013.10.006 |
| Appare nelle tipologie: | 1.1 Articolo in Rivista |
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