On improving stiffness of cable robots

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

2 Scopus citations

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
EditorsTobias Bruckmann, Clement Gosselin, Philippe Cardou, Andreas Pott
PublisherSpringer Netherlands
Pages331-339
Number of pages9
ISBN (Print)9783319614304
DOIs
StatePublished - Jan 1 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

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

Fingerprint Dive into the research topics of 'On improving stiffness of cable robots'. Together they form a unique fingerprint.

  • Cite this

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