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.

Variable radius drum mechanisms

SERIANI, STEFANO;GALLINA, PAOLO
2016-01-01

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.
File in questo prodotto:
File Dimensione Formato  
jmr_008_02_021016 Gallina e Seriani.pdf

Accesso chiuso

Tipologia: Documento in Versione Editoriale
Licenza: Digital Rights Management non definito
Dimensione 1.5 MB
Formato Adobe PDF
1.5 MB Adobe PDF   Visualizza/Apri   Richiedi una copia
Pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11368/2858005
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 16
  • ???jsp.display-item.citation.isi??? 13
social impact