Design of spatial adaptive cable-driven parallel robots with an unlimited rotation axis using the cable wrapping phenomenon
Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Sun, Cong [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2022transfer abstract |
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| Übergeordnetes Werk: |
Enthalten in: Sa1063 Comparative Study of Anti-Peristaltic Agents for Upper Gastrointestinal Endoscopy - Yamakita, Keisuke ELSEVIER, 2016, the scientific journal of the International Federation for the Theory of Machines and Mechanisms, Amsterdam [u.a.] |
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| Übergeordnetes Werk: |
volume:171 ; year:2022 ; pages:0 |
| Links: |
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| DOI / URN: |
10.1016/j.mechmachtheory.2021.104720 |
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ELV056942508 |
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| 245 | 1 | 0 | |a Design of spatial adaptive cable-driven parallel robots with an unlimited rotation axis using the cable wrapping phenomenon |
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| 520 | |a Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. | ||
| 520 | |a Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. | ||
| 650 | 7 | |a Cable wrapping |2 Elsevier | |
| 650 | 7 | |a Adaptive robot |2 Elsevier | |
| 650 | 7 | |a Cable-driven parallel robot (CDPR) |2 Elsevier | |
| 650 | 7 | |a Unlimited rotation |2 Elsevier | |
| 700 | 1 | |a Gao, Haibo |4 oth | |
| 700 | 1 | |a Liu, Zhen |4 oth | |
| 700 | 1 | |a Xiang, Sheng |4 oth | |
| 700 | 1 | |a Yu, Haitao |4 oth | |
| 700 | 1 | |a Li, Nan |4 oth | |
| 700 | 1 | |a Deng, Zongquan |4 oth | |
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10.1016/j.mechmachtheory.2021.104720 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001802.pica (DE-627)ELV056942508 (ELSEVIER)S0094-114X(21)00447-X DE-627 ger DE-627 rakwb eng 610 VZ 600 670 VZ 51.00 bkl Sun, Cong verfasserin aut Design of spatial adaptive cable-driven parallel robots with an unlimited rotation axis using the cable wrapping phenomenon 2022transfer abstract nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. Cable wrapping Elsevier Adaptive robot Elsevier Cable-driven parallel robot (CDPR) Elsevier Unlimited rotation Elsevier Gao, Haibo oth Liu, Zhen oth Xiang, Sheng oth Yu, Haitao oth Li, Nan oth Deng, Zongquan oth Enthalten in Elsevier Science Yamakita, Keisuke ELSEVIER Sa1063 Comparative Study of Anti-Peristaltic Agents for Upper Gastrointestinal Endoscopy 2016 the scientific journal of the International Federation for the Theory of Machines and Mechanisms Amsterdam [u.a.] (DE-627)ELV014614464 volume:171 year:2022 pages:0 https://doi.org/10.1016/j.mechmachtheory.2021.104720 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U GBV_ILN_22 GBV_ILN_40 GBV_ILN_70 51.00 Werkstoffkunde: Allgemeines VZ AR 171 2022 0 |
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10.1016/j.mechmachtheory.2021.104720 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001802.pica (DE-627)ELV056942508 (ELSEVIER)S0094-114X(21)00447-X DE-627 ger DE-627 rakwb eng 610 VZ 600 670 VZ 51.00 bkl Sun, Cong verfasserin aut Design of spatial adaptive cable-driven parallel robots with an unlimited rotation axis using the cable wrapping phenomenon 2022transfer abstract nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. Cable wrapping Elsevier Adaptive robot Elsevier Cable-driven parallel robot (CDPR) Elsevier Unlimited rotation Elsevier Gao, Haibo oth Liu, Zhen oth Xiang, Sheng oth Yu, Haitao oth Li, Nan oth Deng, Zongquan oth Enthalten in Elsevier Science Yamakita, Keisuke ELSEVIER Sa1063 Comparative Study of Anti-Peristaltic Agents for Upper Gastrointestinal Endoscopy 2016 the scientific journal of the International Federation for the Theory of Machines and Mechanisms Amsterdam [u.a.] (DE-627)ELV014614464 volume:171 year:2022 pages:0 https://doi.org/10.1016/j.mechmachtheory.2021.104720 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U GBV_ILN_22 GBV_ILN_40 GBV_ILN_70 51.00 Werkstoffkunde: Allgemeines VZ AR 171 2022 0 |
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10.1016/j.mechmachtheory.2021.104720 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001802.pica (DE-627)ELV056942508 (ELSEVIER)S0094-114X(21)00447-X DE-627 ger DE-627 rakwb eng 610 VZ 600 670 VZ 51.00 bkl Sun, Cong verfasserin aut Design of spatial adaptive cable-driven parallel robots with an unlimited rotation axis using the cable wrapping phenomenon 2022transfer abstract nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. Cable wrapping Elsevier Adaptive robot Elsevier Cable-driven parallel robot (CDPR) Elsevier Unlimited rotation Elsevier Gao, Haibo oth Liu, Zhen oth Xiang, Sheng oth Yu, Haitao oth Li, Nan oth Deng, Zongquan oth Enthalten in Elsevier Science Yamakita, Keisuke ELSEVIER Sa1063 Comparative Study of Anti-Peristaltic Agents for Upper Gastrointestinal Endoscopy 2016 the scientific journal of the International Federation for the Theory of Machines and Mechanisms Amsterdam [u.a.] (DE-627)ELV014614464 volume:171 year:2022 pages:0 https://doi.org/10.1016/j.mechmachtheory.2021.104720 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U GBV_ILN_22 GBV_ILN_40 GBV_ILN_70 51.00 Werkstoffkunde: Allgemeines VZ AR 171 2022 0 |
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10.1016/j.mechmachtheory.2021.104720 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001802.pica (DE-627)ELV056942508 (ELSEVIER)S0094-114X(21)00447-X DE-627 ger DE-627 rakwb eng 610 VZ 600 670 VZ 51.00 bkl Sun, Cong verfasserin aut Design of spatial adaptive cable-driven parallel robots with an unlimited rotation axis using the cable wrapping phenomenon 2022transfer abstract nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. Cable wrapping Elsevier Adaptive robot Elsevier Cable-driven parallel robot (CDPR) Elsevier Unlimited rotation Elsevier Gao, Haibo oth Liu, Zhen oth Xiang, Sheng oth Yu, Haitao oth Li, Nan oth Deng, Zongquan oth Enthalten in Elsevier Science Yamakita, Keisuke ELSEVIER Sa1063 Comparative Study of Anti-Peristaltic Agents for Upper Gastrointestinal Endoscopy 2016 the scientific journal of the International Federation for the Theory of Machines and Mechanisms Amsterdam [u.a.] (DE-627)ELV014614464 volume:171 year:2022 pages:0 https://doi.org/10.1016/j.mechmachtheory.2021.104720 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U GBV_ILN_22 GBV_ILN_40 GBV_ILN_70 51.00 Werkstoffkunde: Allgemeines VZ AR 171 2022 0 |
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10.1016/j.mechmachtheory.2021.104720 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001802.pica (DE-627)ELV056942508 (ELSEVIER)S0094-114X(21)00447-X DE-627 ger DE-627 rakwb eng 610 VZ 600 670 VZ 51.00 bkl Sun, Cong verfasserin aut Design of spatial adaptive cable-driven parallel robots with an unlimited rotation axis using the cable wrapping phenomenon 2022transfer abstract nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. Cable wrapping Elsevier Adaptive robot Elsevier Cable-driven parallel robot (CDPR) Elsevier Unlimited rotation Elsevier Gao, Haibo oth Liu, Zhen oth Xiang, Sheng oth Yu, Haitao oth Li, Nan oth Deng, Zongquan oth Enthalten in Elsevier Science Yamakita, Keisuke ELSEVIER Sa1063 Comparative Study of Anti-Peristaltic Agents for Upper Gastrointestinal Endoscopy 2016 the scientific journal of the International Federation for the Theory of Machines and Mechanisms Amsterdam [u.a.] (DE-627)ELV014614464 volume:171 year:2022 pages:0 https://doi.org/10.1016/j.mechmachtheory.2021.104720 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U GBV_ILN_22 GBV_ILN_40 GBV_ILN_70 51.00 Werkstoffkunde: Allgemeines VZ AR 171 2022 0 |
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Design of spatial adaptive cable-driven parallel robots with an unlimited rotation axis using the cable wrapping phenomenon |
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Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. |
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Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. |
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Cable-driven parallel robots (CDPRs) are gaining increasing attention due to their low weight, low cost, and power consumption characteristics. However, cable-driven systems have limited rotational capabilities without additional actuator systems. In this paper, we propose a new type of spatial CDPR that provides an unlimited rotation axis without the need for an additional actuator system. This novel capability relies on the cable wrapping over end-effector, which was specifically designed for this purpose. Herein, the principle of the unlimited rotation is demonstrated. Then, the kinematics modelling and the static equilibrium of the spatial CDPRs are established, and the resulting workspace is analysed. The results of the experiment showed that this spatial CDPR exhibits an unlimited rotation axis without additional actuator systems, while the control of the robot remained identical to that of the traditional cable robot. |
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Design of spatial adaptive cable-driven parallel robots with an unlimited rotation axis using the cable wrapping phenomenon |
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Gao, Haibo Liu, Zhen Xiang, Sheng Yu, Haitao Li, Nan Deng, Zongquan |
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