TY - GEN
T1 - On improving stiffness of cable robots
AU - Nelson, Carl A.
N1 - Publisher Copyright:
© Springer International Publishing AG 2018.
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-319-61431-1_28
DO - 10.1007/978-3-319-61431-1_28
M3 - Conference contribution
AN - SCOPUS:85025836569
SN - 9783319614304
T3 - Mechanisms and Machine Science
SP - 331
EP - 339
BT - Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots
A2 - Bruckmann, Tobias
A2 - Gosselin, Clement
A2 - Cardou, Philippe
A2 - Pott, Andreas
PB - Springer Netherlands
T2 - 3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017
Y2 - 2 August 2017 through 4 August 2017
ER -