Please wait, while we are loading the content...
| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Lim, W.B. Yeo, S.H. Yang, G. Mustafa, S.K. |
| Copyright Year | 2009 |
| Description | Author affiliation: School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798 (Lim, W.B.; Yeo, S.H.) || Mechatronics Group, Singapore Institute of Manufacturing Technology, Singapore 638075 (Yang, G.; Mustafa, S.K.) |
| Abstract | Cable-driven parallel manipulators (CDPMs) are a special class of parallel manipulators that are driven by cables instead of rigid links. So CDPMs have a light-weight structure with large reachable workspace. The aim of this paper is to provide the kinematic analysis and the design optimization of a cable-driven 2-DOF module, comprised of a passive universal joint, for a reconfigurable system. This universal joint module can be part of a modular reconfigurable system where various cable-driven modules can be attached serially into many different configurations. Based on a symmetric design approach, six topological configurations are enumerated with three or four cables arrangements. With a variable constrained axis, the structure matrix of the universal joint has to be formulated with respect to the intermediate frame. The orientation workspace of the universal joint is a submanifold of SO(3). Therefore, the workspace representation is a plane in $R^{2}.$ With the integral measure for the submanifold expressed as a cosine function of one of the angles of rotation, an equivolumetric method is employed to numerically calculate the workspace volume. The orientation workspace volume of the universal joint module is found to be 2π. Optimization results show that the 4-1 cable arrangement produces the largest workspace with better Global Conditioning Index. |
| Starting Page | 1933 |
| Ending Page | 1938 |
| File Size | 425070 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424428526 |
| DOI | 10.1109/AIM.2009.5229772 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-07-14 |
| Publisher Place | Singapore |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Design optimization Manipulators Cables Lightweight structures Robot kinematics Jacobian matrices Joints Service robots Mechatronics Symmetric matrices universal joint Cable-driven parallel manipulators |
| Content Type | Text |
| Resource Type | Article |
National Digital Library of India (NDLI) is a virtual repository of learning resources which is not just a repository with search/browse facilities but provides a host of services for the learner community. It is sponsored and mentored by Ministry of Education, Government of India, through its National Mission on Education through Information and Communication Technology (NMEICT). Filtered and federated searching is employed to facilitate focused searching so that learners can find the right resource with least effort and in minimum time. NDLI provides user group-specific services such as Examination Preparatory for School and College students and job aspirants. Services for Researchers and general learners are also provided. NDLI is designed to hold content of any language and provides interface support for 10 most widely used Indian languages. It is built to provide support for all academic levels including researchers and life-long learners, all disciplines, all popular forms of access devices and differently-abled learners. It is designed to enable people to learn and prepare from best practices from all over the world and to facilitate researchers to perform inter-linked exploration from multiple sources. It is developed, operated and maintained from Indian Institute of Technology Kharagpur.
Learn more about this project from here.
NDLI is a conglomeration of freely available or institutionally contributed or donated or publisher managed contents. Almost all these contents are hosted and accessed from respective sources. The responsibility for authenticity, relevance, completeness, accuracy, reliability and suitability of these contents rests with the respective organization and NDLI has no responsibility or liability for these. Every effort is made to keep the NDLI portal up and running smoothly unless there are some unavoidable technical issues.
Ministry of Education, through its National Mission on Education through Information and Communication Technology (NMEICT), has sponsored and funded the National Digital Library of India (NDLI) project.
| Sl. | Authority | Responsibilities | Communication Details |
|---|---|---|---|
| 1 | Ministry of Education (GoI), Department of Higher Education |
Sanctioning Authority | https://www.education.gov.in/ict-initiatives |
| 2 | Indian Institute of Technology Kharagpur | Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project | https://www.iitkgp.ac.in |
| 3 | National Digital Library of India Office, Indian Institute of Technology Kharagpur | The administrative and infrastructural headquarters of the project | Dr. B. Sutradhar bsutra@ndl.gov.in |
| 4 | Project PI / Joint PI | Principal Investigator and Joint Principal Investigators of the project |
Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon |
| 5 | Website/Portal (Helpdesk) | Queries regarding NDLI and its services | support@ndl.gov.in |
| 6 | Contents and Copyright Issues | Queries related to content curation and copyright issues | content@ndl.gov.in |
| 7 | National Digital Library of India Club (NDLI Club) | Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach | clubsupport@ndl.gov.in |
| 8 | Digital Preservation Centre (DPC) | Assistance with digitizing and archiving copyright-free printed books | dpc@ndl.gov.in |
| 9 | IDR Setup or Support | Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops | idr@ndl.gov.in |
|
Loading...
|