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RISDirect Geometrico Static Problem of Underconstrained Cable Driven Parallel Robots With Three Cables1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper studies the direct geometricostatic problem (DGP) of underconstrained cabledriven parallel robots (CDPRs) with three cables. The task consists in determining the endeffector pose and the cable tensile forces ...
Inverse Geometrico Static Problem of Underconstrained Cable Driven Parallel Robots With Three Cables1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper studies underconstrained cabledriven parallel robots (CDPRs) with three cables. A major challenge in the study of these robots is the intrinsic coupling between kinematics and statics, which must be tackled ...
Synthesis and Singularity Analysis of N-UU Parallel Wrists: A Symmetric Space Approach
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We report some recent advances in kinematics and singularity analysis of the mirror-symmetric N-UU parallel wrists using symmetric space theory. We show that both the finite displacement and infinitesimal singularity ...
Design of Nonoverconstrained Energy Efficient Multi Axis Servo Presses for Deep Drawing Applications1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Servoactuated presses may provide maximum pressing force at any ram position in the same manner that hydraulic presses do, while offering several benefits in terms of precision, energyconversion efficiency, and simplicity, ...
A Vision-Based Referencing Procedure for Cable-Driven Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In the last three decades, cable-driven parallel robots (CDPRs) have captured a growing attention in the robotics field. Indeed, they promise to bring automation in fields where it is not affirmed yet, granting ease of ...
Antisloshing Trajectories for High-Acceleration Motions in Automatic Machines
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper studies the design of antisloshing trajectories for application in automatic machines for packaging liquid products, with specific reference to cylindrical containers and emphasis on prescribed motion durations. ...
Dynamically Feasible Periodic Trajectories for Generic Spatial Three-Degree-of-Freedom Cable-Suspended Parallel Robots1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Cable-suspended robots may move beyond their static workspace by keeping all cables under tension, thanks to end-effector inertia forces. This may be used to extend the robot capabilities, by choosing suitable dynamical ...
Dynamic Control of Cardboard-Blank Picking by Using Reinforcement Learning
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Standard packaging lines with high output rates often struggle when dealing with uncertainties in the conditions of the handled materials. This paper focuses on a piece of machinery in an automatic packaging line, namely, ...
An Underactuated Cable-Driven Parallel Robot for Marine Automated Launch and Recovery Operations
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article presents the feasibility study and preliminary testing of an underactuated cable-driven parallel robot for automated launch and recovery operations on the sea surface. The robot frame is mounted onto a primary ...
Sample Fetch Rover: Enabling Technologies for Planetary Mobility
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The sample fetch rover (SFR) is a novel surface vehicle studied for Mars sample return (MSR). The rover is designed as a multi-mission transportation system with no scientific payloads on board and the only objective of ...