| contributor author | Yuan, Han | |
| contributor author | Courteille, Eric | |
| contributor author | Deblaise, Dominique | |
| date accessioned | 2017-05-09T01:31:25Z | |
| date available | 2017-05-09T01:31:25Z | |
| date issued | 2016 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_008_04_041004.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/161909 | |
| description abstract | This paper addresses the force distribution of redundantly actuated cabledriven parallel robots (CDPRs). A new and efficient method is proposed for the determination of the lowerboundary of cable forces, including the posedependent lowerboundaries. In addition, the effect of cable sag is considered in the calculation of the force distribution to improve the computational accuracy. Simulations are made on a 6DOF CDPR driven by eight cables to demonstrate the validity of the proposed method. Results indicate that the posedependent lowerboundary method is more efficient than the fixed lowerboundary method in terms of minimizing the motor size and reducing energy consumption. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Force Distribution With Pose Dependent Force Boundaries for Redundantly Actuated Cable Driven Parallel Robots | |
| type | Journal Paper | |
| journal volume | 8 | |
| journal issue | 4 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4032104 | |
| journal fristpage | 41004 | |
| journal lastpage | 41004 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 004 | |
| contenttype | Fulltext | |