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EnglishThis paper presents the concept of Variable Radius Drum Mechanisms (VRDMs). A drum, or spool, consists in a spindle with flanges, on which a cable is wound around. The cylindrical surface of an ordinary spool has a constant radius. In a Variable Radius Drum (VRD) the radius of the spool varies along its profile. Properties of such a devices are discussed, as well as kinematic analysis and synthesis. The main contribution of the work is the theory of the VRD synthesis problem rooted on a closed-form analytical solution. In order to highlight the benefits of VRDMs, two applications are presented and analyzed as examples. The first example consists in a mechanism which can support and guide a load along a horizontal linear path. The second example shows a solution to improve the locomotion of a legged robot.
| Titolo: | Variable radius drum mechanisms |
| Autori: | |
| Data di pubblicazione: | 2016 |
| Rivista: | |
| Abstract: | This paper presents the concept of Variable Radius Drum Mechanisms (VRDMs). A drum, or spool, consists in a spindle with flanges, on which a cable is wound around. The cylindrical surface of an ordinary spool has a constant radius. In a Variable Radius Drum (VRD) the radius of the spool varies along its profile. Properties of such a devices are discussed, as well as kinematic analysis and synthesis. The main contribution of the work is the theory of the VRD synthesis problem rooted on a closed-form analytical solution. In order to highlight the benefits of VRDMs, two applications are presented and analyzed as examples. The first example consists in a mechanism which can support and guide a load along a horizontal linear path. The second example shows a solution to improve the locomotion of a legged robot. |
| Handle: | http://hdl.handle.net/11368/2858005 |
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1115/1.4031951 |
| URL: | http://mechanismsrobotics.asmedigitalcollection.asme.org/journal.aspx |
| Appare nelle tipologie: | 1.1 Articolo in Rivista |
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http://hdl.handle.net/11368/2858005
