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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Jianjun Yuan Weijun Zhang Yongtao Song Wan Yan |
| Copyright Year | 2011 |
| Description | Author affiliation: Research Institute of Robotics, Mechanical Engineering School, Shanghai Jiao Tong University, No.800, Dong Chuan Road, Min Hang District, Shanghai 200240, China (Jianjun Yuan; Weijun Zhang; Yongtao Song; Wan Yan) |
| Abstract | We have been researching robot manipulators with steel-cable-driven structure. The reason of using such are to implement serial manipulators interesting performance such as low cost, large payload ability as well as light self-weight, and also flexible features. While, on the other hand, the normal ring winding structure remains disadvantage in motion coupling, also complex in control. In this paper, we first propose a novel planetary 8-shape cable winding structure in n-DOF robot manipulator, and then discuss its characteristics, such as the geometry, the kinematics, and the force/torque transmission mechanism. The later chapter of the paper reports a trial 5-DOF model with basic experiments to verify the above theoretical analysis and simulation. Hopefully, such structure should have the possibility to expanding its application into industry, serial manipulator, snake-like structure, for instance. |
| Starting Page | 58 |
| Ending Page | 63 |
| File Size | 452356 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424481132 |
| ISSN | 21527431 |
| e-ISBN | 9781424481156 |
| DOI | 10.1109/ICMA.2011.5985631 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2011-08-07 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Joints Manipulators Windings Steel Payloads Torque Multi-Joint Manipulator Steel Cable |
| Content Type | Text |
| Resource Type | Article |
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