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.

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

GALLINA, PAOLO
2014-01-01

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.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11368/2758362
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