Input-output Force Transmission Characteristics for the 3T1R Cable-driven Parallel Mechanism

被引：0
|
作者：
Hong, Tae Woo [1 ]
Yi, Byung-Ju [2 ]
Kim, Wheekuk [1 ]
机构：
[1] Korea Univ, Dept Electromech Syst Engn, Sejong, South Korea
[2] Hanyang Univ, Dept Elect Syst Engn, Ansan, South Korea
来源：
2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2017年
基金：
新加坡国家研究基金会;
关键词：
force transmission characteristic; cable-driven parallel mechanism; largest isotropic force; 1-norm based index; 2-norm based index;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this work, the norm based input-output force transmission (IOFT) characteristic of a 3T1R type cable-driven parallel mechanism (CDPM) with five cables is analyzed. It is confirmed from simulation results that the proposed CDPM has adequate characteristics for haptic applications. In addition, its 1-norm and 2-norm based IOFT characteristics are analyzed.
引用
收藏
页码：372 / 374
页数：3
相关论文
共 50 条
  • [1] Input-Output Feedback Linearization for the Control of a 4 Cable-Driven Parallel Robot
    Kumar, Atal Anil
    Antoine, Jean-Francois
    Abba, Gabriel
    IFAC PAPERSONLINE, 2019, 52 (13): : 707 - 712
  • [2] Development of a new 3T1R type cable-driven haptic device
    Cho, Youngsu
    Hong, Taewoo
    Cheong, Joono
    Yi, Byung-Ju
    Kim, Wheekuk
    Jeong, Hyunhwan
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2020, 34 (11) : 4721 - 4734
  • [3] Development of a new 3T1R type cable-driven haptic device
    Youngsu Cho
    Taewoo Hong
    Joono Cheong
    Byung-Ju Yi
    Wheekuk Kim
    Hyunhwan Jeong
    Journal of Mechanical Science and Technology, 2020, 34 : 4721 - 4734
  • [4] Analysis of Cable-Force Transmission Characteristics and Disturbing Force/Moment of High-Acceleration Cable-Driven Parallel Mechanism
    Hou, Senhao
    Tang, Xiaoqiang
    Sun, Haining
    Wang, Yuheng
    Li, Qunzhi
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2022, 27 (01) : 348 - 359
  • [5] Dynamics and input-output feedback linearization control of a wheeled mobile cable-driven parallel robot
    Korayem, M. H.
    Yousefzadeh, M.
    Manteghi, S.
    MULTIBODY SYSTEM DYNAMICS, 2017, 40 (01) : 55 - 73
  • [6] Control of an Underactuated 4 Cable-Driven Parallel Robot using Modified Input-Output Feedback Linearization
    Kumar, Atal Anil
    Antoine, Jean-Francois
    Abba, Gabriel
    IFAC PAPERSONLINE, 2020, 53 (02): : 8777 - 8782
  • [7] Coupled vibration characteristics of spatial redundant cable-driven parallel mechanism
    Yu J.
    Tao J.
    Wang G.
    Li X.
    Wang H.
    Zhendong yu Chongji/Journal of Vibration and Shock, 2023, 42 (05): : 295 - 304
  • [8] Stiffness analysis and optimization of an asymmetric 3T1R parallel mechanism
    Zhu, Wei
    Ma, Zhilong
    Ma, Zhiyuan
    Shen, Huiping
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2024, 238 (08) : 3391 - 3403
  • [9] Dynamics Coupling Characteristics of 3T1R Decoupled Parallel Manipulator
    Zhu X.
    Zhao L.
    Shen H.
    Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2023, 54 (09): : 448 - 458
  • [10] Design and Kinematics Performance Analysis of a 3T1R Parallel Mechanism
    Zhu W.
    Gu K.
    Wang C.
    Liu X.
    Zhongguo Jixie Gongcheng/China Mechanical Engineering, 2018, 29 (01): : 14 - 21
12345