Through derivation of the coupling matrix, the coupling factor was defined to characterize the influence of flexible joint deformation on end motion of the manipulator. Finally, the dynamics coupling factor was simulated, and the influence of the joint cable-wheel reduction ratio and the end load ...
FlexDiamond got the name by combining the terms “flexible” and “diamond-shaped” together, as they are the points of focus and the basis of our whole design, which is a flexible manipulator with diamond-shaped cuts. 3.3.4Key performance targets ...
Stiffness and dexterous performances optimization of large workspace cable-driven parallel manipulatorscable-driven manipulatorstiffness matrixshallow cableoptimizationCable-driven parallel manipulators (CDPMs) provide an easy way to achieve large workspace since flexible cables can be readily stored on reels. ...
At present, the control of these robots is inaccurate due to the nonlinear behaviors of the flexible manipulator, including structural deformations, interactions with soft tissues, and collisions with other instruments4. Many control methods have been proposed to improve the motion accuracy of continuum...
[4–6] proposed a novel anthropomorphic cable-driven manipulator equipped with pure rolling joints at the elbow and wrist. The cable-driven manipulators with pure rolling joints (CDM-PRJs) belong to the class of rigid–flexible coupling manipulators [7,8], combining the flexibility of continuum ...
Cable-driven robots (CDRs) are a special class of parallel mechanisms in which the end-effector is actuated by cables, instead of rigid-linked actuators. They are characterized by lightweight structures with low moving inertia and large workspace, due to the location of the cable winching actua...
Cable-driven parallel robots (CDPRs) use cables instead of the rigid limbs of traditional parallel robots, thus processing a large potential workspace, easy to assemble and disassemble characteristics, and with applications in numerous fields. However, o
Modelling of Flexible Cable-Driven Parallel Robots Using a Rayleigh-Ritz Approach Harsh Atul Godbole; Ryan James Caverly; James Richard Forbes 2018 Assumed-Mode-Based Dynamic Model for Cable Robots with Non-straight Cables Jorge Ivan Ayala Cuevas; Edouard Laroche; Olivier Piccin 2018 Manipulator Defle...
So far, there are few discussions on the high-precision motion control of the cable-driven space manipulator. Due to the large size of the components of the cable-driven mechanism, the cable-driven space manipulator contains a large number of flexible structures, and the cable deformation within...
H∞ control of a planar 3-DOF flexible-cable manipulator IFAC- Pap. (2022) C.A. Felippa et al. A unified formulation of small-strain corotational finite elements: I. theory Comput. Methods Appl. Mech. Engrg. (2005) N. Pedemonte et al. FASTKIT: A mobile cable-driven parallel robot for...