并联机械手
刚度
多边形(计算机图形学)
扳手
机器人
计算机科学
流离失所(心理学)
张力(地质)
集合(抽象数据类型)
算法
控制理论(社会学)
工程类
结构工程
人工智能
控制(管理)
心理治疗师
帧(网络)
程序设计语言
力矩(物理)
物理
电信
经典力学
心理学
作者
Etienne Picard,Stéphane Caro,Franck Plestan,Fabien Claveau
出处
期刊:Springer proceedings in advanced robotics
日期:2020-07-18
卷期号:: 209-217
被引量:5
标识
DOI:10.1007/978-3-030-50975-0_26
摘要
A novel criterion is introduced in this paper to determine the set of cable tensions for Cable-Driven Parallel Robots (CDPRs) with the aim of maximizing the robot stiffness along a specific direction. Based on the feasible polygon of the CDPR and its stiffness matrix, an algorithm selects the set of admissible cable tensions leading to the smallest moving-platform displacement, the moving-platform being subject to an external wrench. The proposed tension distribution is implemented in a control scheme and experimented on a fully-constrained CDPR for a window cleaning application.
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