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题名: Stiffness study on a 6-DOF parallel wire driven robot
作者: Sui CP(隋春平) ; Zhang B(张波) ; Qu YL(曲艳丽) ; Zhao MY(赵明扬)
作者部门: 机器人学研究室
会议名称: 11th International Conference on Advanced Robotics (ICAR 2003)
会议日期: June 30-July 3, 2003
会议地点: COIMBRA, PORTUGAL
会议主办者: Inst Syst & Robot, Univ Coimbra, IEEE Portuguese Sect, IEEE Robot & Automat Soc, IEEE Ind Elect Soc, Robot Soc Japan, Japan Robot Assoc
会议录: PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3
会议录出版者: UNIV COIMBRA, FAC CIENCIAS & TECHNOL
会议录出版地: COIMBRA
出版日期: 2003
页码: 1787-1792
收录类别: CPCI(ISTP)
ISBN号: 972-96889-8-2
摘要: In this paper the stress of a parallel wire driven (PWD) manipulator, which is driven by at least n + 1(n is the number of the degrees of freedom of the mechanism) wires, is studied. It is shown that the stress of this kind of manipulator depends not only on its structural parameters including the physical dimensions, the stress of wires and motors and the position and pose of the end effecter but also on the tension of the wires. In what extent the wire tension affects on the manipulating stress is researched theoretically in this paper. Based on the differential motion principle, the stress matrix of the manipulator consisting of structural stress and wire-tension-caused-stress is produced. Then, the stress of the actuating unit consists of the wire stress and the motor stress generated by the control law is analyzed. Those works lead to the conclusion that the stress of the PWD manipulator can be controlled by regulating the control laws or the internal tension of wires.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8453
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
隋春平; 张波; 曲艳丽; 赵明扬.Stiffness study on a 6-DOF parallel wire driven robot.见:UNIV COIMBRA, FAC CIENCIAS & TECHNOL.PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3,COIMBRA,2003,1787-1792
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