Stiffness Analysis of Clavel’s DELTA Robot

2011 ◽  
pp. 240-249 ◽  
Author(s):  
Martin Wahle ◽  
Burkhard Corves
Keyword(s):  
Stiffness Analysis ◽  
Delta Robot

Sorting system algorithms based on dynamic picking for delta robot

2017 ◽  
Author(s):  
Tingting Su ◽  
Haojian Zhang ◽  
Yunkuan Wang ◽  
Shaohong Wu ◽  
Jun Zheng ◽  
...  
Keyword(s):  
Delta Robot ◽  
Sorting System

Stiffness analysis of a planar parallel manipulator with variable platforms

2021 ◽  
pp. 1-18
Author(s):  
Xiaoyong Wu ◽  
Yujin Wang ◽  
Zhaowei Xiang ◽  
Ran Yan ◽  
Rulong Tan ◽  
...  
Keyword(s):  
Parallel Manipulator ◽  
Stiffness Analysis ◽  
Planar Parallel Manipulator

Stiffness analysis of composite beams using roller clamps

2020 ◽  
Author(s):  
P. G. Vivek ◽  
Ankuran Saha
Keyword(s):  
Composite Beams ◽  
Stiffness Analysis

A Hybrid Self-Stressed Cable-Driven Mechanism

2008 ◽  
Author(s):  
Saeed Behzadipour
Keyword(s):  
Static Loading ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Tensile Force ◽  
Cable System ◽  
End Effector ◽  
Stiffness Analysis ◽  
Cable Length ◽  
Cable Drive ◽  
Forward And Inverse Kinematics

A new hybrid cable-driven manipulator is introduced. The manipulator is composed of a Cartesian mechanism to provide three translational degrees of freedom and a cable system to drive the mechanism. The end-effector is driven by three rotational motors through the cables. The cable drive system in this mechanism is self-stressed meaning that the pre-tension of the cables which keep them taut is provided internally. In other words, no redundant actuator or external force is required to maintain the tensile force in the cables. This simplifies the operation of the mechanism by reducing the number of actuators and also avoids their continuous static loading. It also eliminates the redundant work of the actuators which is usually present in cable-driven mechanisms. Forward and inverse kinematics problems are solved and shown to have explicit solutions. Static and stiffness analysis are also performed. The effects of the cable’s compliance on the stiffness of the mechanism is modeled and presented by a characteristic cable length. The characteristic cable length is calculated and analyzed in representative locations of the workspace.

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