Closed-form Force Distribution for Parallel Wire Robots

被引：90
|
作者：
Pott, Andreas [1 ]
Bruckmann, Tobias [2 ]
Mikelsons, Lars [2 ]
机构：
[1] Fraunhofer Inst Mfg Engn & Automat IPA, D-70569 Stuttgart, Germany
[2] Univ Duisburg Essen, Chair Mechatron, D-47048 Duisburg, Germany
来源：
COMPUTATIONAL KINEMATICS, PROCEEDINGS | 2009年
关键词：
DESIGN;
D O I：
10.1007/978-3-642-01947-0_4
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents an algorithm to determine feasible force distributions for parallel wire robots in closed-form. The force distributions are continuous along trajectories and differentiable at most of the points. The computational efforts are strictly bounded and small even for large numbers of wires. The algorithm is compared to other approaches for calculation of force distribution in terms of the numerical effort and their applicability for control purposes.
引用
收藏
页码：25 / +
页数：2
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