Affiliation:
1. Indian Institute of Technology Gandhinagar Human-Centered Robotics Lab, Department of Mechanical Engineering, , Gandhinagar, Gujarat 382355 , India
Abstract
Abstract
Cable-driven serial-chain manipulators, CDSMs, are widely used from industries to human–robot interaction applications demanding diverse performance requirements. The CDSMs inherent characteristic of flexibility in altering system parameters facilitates the possibility of varying its performance as per the desired application and thus has been explored in the literature. Among the various performance measures, stiffness plays a vital role in manipulators interaction with unknown environments. Works in the literature reported varying CDSMs system parameters to tune the stiffness characteristics and highlighted the tensionable workspace’s sensitivity to the changes in the system parameters. The current work demonstrates the potential of co-shared cable routing in CDSMs along with a set of design conditions to provide a broader range of stiffness characteristics for a constant tensionable workspace. The results are presented using a planar two degrees-of-freedom (DOFs) CDSM, and the stiffness changes are validated experimentally. This outcome shows that CDSM with co-shared cable routing can render a wide range of stiffness behavior.
Funder
Department of Science and Technology, Ministry of Science and Technology
Reference49 articles.
1. Comparison of the Characteristics Between Serial and Parallel Robots;Pandilov;Acta Tech. Corvininesis-Bull. Eng.,2014
2. Robot Capability Test and Development of Industrial Robot Positioning System for the Aerospace Industry;Summers;SAE Trans.,2005
3. Posture Optimization Methodology of 6r Industrial Robots for Machining Using Performance Evaluation Indexes;Lin;Robot. Comput.-Integr. Manuf.,2017
4. Machining With Industrial Robots: The Comet Project Approach;Lehmann,2013
5. Standard Antiepileptic Drugs Fail to Block Epileptiform Activity in Rat Organotypic Hippocampal Slice Cultures;Albus;Br. J. Pharmacol.,2008
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献