Cable-direct-driven-robot (CDDR) with a 3-link passive serial support |
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Authors: | Lorenzo Pigani Paolo Gallina |
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Affiliation: | Department of Engineering and Architecture, University of Trieste, Via A. Valerio 10, 34127 Trieste, Italy |
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Abstract: | Cable-direct-driven-robots (CDDRs) provided with a passive serial support represent an interesting and rising evolution of planar cable robots. The paper is devoted to present and analyze a novel CDDR robot. The robot consists in a fully actuated CDDR supported against loading normal to the motion plane with a 3-link passive planar serial manipulator. This hybrid structure combines positive features of both parallel and serial architectures, and prevents out-of-plane movements without the necessity for the robot to be supported on the motion plane. The adoption of a 3-link serial manipulator ensures a greater workspace area compared with similar structures that adopt a smaller number of links, and improves specific characteristics of their dynamics. Nevertheless undesired oscillations may occur since the serial manipulator is underconstrained. For this reason damping elements are inserted in the structure. Simulation examples are presented to demonstrate the novel CDDR concept and its dynamics. In addition, a strategy to select proper values of damping coefficients is presented. |
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Keywords: | Underconstrained cable-direct-driven robots Underactuated passive serial support Dynamics modeling Tension constraints Oscillation constraints Trajectory planning |
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