SpringsOptimization•Springs are added between the end-effector and a base to modulate the workspace of Cable-Driven Parallel Robots (CDPRs).•Effects of different parameters of the spring on CDPR's wrenches
was capable of reducing wire forces generated by the active components for a given task. A first discussion of optimizing the springs not only for a workspace, but for a defined trajectory was presented in [31]. Gao et al. proposed a cable-driven flexible parallel robot ...
If the seismic action is on the parallel direction of the shell, there shouldn't be any forces generated due to that mass. If the direction of the seismic action is between the perpendicular and parallel direction of the shell, the force should according to the cosin of the angle. I'm ...
Said steps 58 encompass the same circumferential angle as the teeth 55, but are formed in ascending heights, whereby said cam has a stepped spiral shape. Connected between the cams 57 and the shaft 5! are coil spiral springs 59. Also rigid with each cam 57 and projecting outwardly ...
A drum 51 (Fig. 7) is fixed to shaft 48 and in this drum there are mounted a plurality of pawls 52 which are constantly urged into engagement with the teeth of a ratchet 53 by springs 54. The ratchet 53 is a fixed part of the escapement wheel 45 which is mounted for free ...
A. Stettner, Jr. No. 277,627 Adding Machines说明书
SpringsOptimizationCable-driven parallel robots (CDPRs) possess a number of promising advantages over conventional rigid-link robots, such as light weight, large payload handling capacity, considerably large workspace, and simpler dynamics. However, since cables can only pull but not push its ...
12, by means of a cam-slot, and by an arrangement consisting of slotted arms 16, 17, stresses one of the springs 16, 17, tending to lower or raise parallel vertical links 18, 19. These links do not, however, move until, towards the end of the operation of the main lever, the ...
2 but sectioned on a parallel plane; Fig. 4 is a perspective view of one of the operating slide bars; Fig. 5 is a sectional view of the same taken along the line 5-5 in Fig. 4. Fig. 6 is an inverted plan view of the machine on enlarged scale and with the bottom removed to...
As is shown in Figs. 1 and 2, the bifurcated lower ends of the key stems I I of the keys 110 each embrace a stud 120 on a pivoted arm 121, there being an arm 121 associated with each key 10. The arms 121 are urged upwardly against a stop rod 455 by individual springs 466 set...