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
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