| contributor author | Khakpour, Hamed | |
| contributor author | Birglen, Lionel | |
| contributor author | Tahan, Souheil | |
| date accessioned | 2017-05-09T01:21:27Z | |
| date available | 2017-05-09T01:21:27Z | |
| date issued | 2015 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_007_03_034503.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/158995 | |
| description abstract | In this paper, a new three degrees of freedom (DOF) differentially actuated cable parallel robot is proposed. This mechanism is driven by a prismatic actuator and three cable differentials. Through this design, the idea of using differentials in the structure of a spatial cable robot is investigated. Considering their particular properties, the kinematic analysis of the robot is presented. Then, two indices are defined to evaluate the workspaces of the robot. Using these indices, the robot is subsequently optimized. Finally, the performance of the optimized differentially driven robot is compared with fully actuated mechanisms. The results show that through a proper design methodology, the robot can have a larger workspace and better performance using differentials than the fully driven cable robots using the same number of actuators. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Analysis and Optimization of a New Differentially Driven Cable Parallel Robot | |
| type | Journal Paper | |
| journal volume | 7 | |
| journal issue | 3 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4028931 | |
| journal fristpage | 34503 | |
| journal lastpage | 34503 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2015:;volume( 007 ):;issue: 003 | |
| contenttype | Fulltext | |