On improving stiffness of cable robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Stiffness of cable-driven parallel manipulators is dependent on the cable stiffnesses, cable tensions, and kinematic characteristics of the manipulator. In this paper, a general approach to stiffening this type of robot is put forward. The approach is based on two main principles: making constructive use of pulley-based force amplification, and adjusting the geometry of kinematic constraints. The approach is illustrated with an example.

Original languageEnglish (US)
Title of host publicationCable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots
PublisherSpringer Netherlands
Pages331-339
Number of pages9
Volume53
ISBN (Print)9783319614304
DOIs
StatePublished - 2018
Event3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017 - Quebec City, Canada
Duration: Aug 2 2017Aug 4 2017

Publication series

NameMechanisms and Machine Science
Volume53
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Other

Other3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017
CountryCanada
CityQuebec City
Period8/2/178/4/17

Fingerprint

Cables
Stiffness
Robots
Manipulators
Kinematics
Pulleys
Amplification
Geometry

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

Cite this

Nelson, C. A. (2018). On improving stiffness of cable robots. In Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots (Vol. 53, pp. 331-339). (Mechanisms and Machine Science; Vol. 53). Springer Netherlands. https://doi.org/10.1007/978-3-319-61431-1_28

On improving stiffness of cable robots. / Nelson, Carl A.

Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots. Vol. 53 Springer Netherlands, 2018. p. 331-339 (Mechanisms and Machine Science; Vol. 53).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nelson, CA 2018, On improving stiffness of cable robots. in Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots. vol. 53, Mechanisms and Machine Science, vol. 53, Springer Netherlands, pp. 331-339, 3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017, Quebec City, Canada, 8/2/17. https://doi.org/10.1007/978-3-319-61431-1_28
Nelson CA. On improving stiffness of cable robots. In Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots. Vol. 53. Springer Netherlands. 2018. p. 331-339. (Mechanisms and Machine Science). https://doi.org/10.1007/978-3-319-61431-1_28
Nelson, Carl A. / On improving stiffness of cable robots. Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots. Vol. 53 Springer Netherlands, 2018. pp. 331-339 (Mechanisms and Machine Science).
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