scholarly journals Design and analysis of a novel hinged boom based on cable drive

2021 ◽  
Author(s):  
Kaijie Dong ◽  
Duanling Li ◽  
Qiuhong Lin ◽  
Hui Qiu ◽  
Qiang Cong ◽  
...  
Keyword(s):  
Cable Drive

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.

Design and optimization of an elastic linkage quadruped robot based on workspace and tracking error

2018 ◽  
Vol 232 (22) ◽  
pp. 4152-4166 ◽  
Author(s):  
Haoyu Ren ◽  
Qimin Li ◽  
Bing Liu ◽  
Zhenhuan Dou
Keyword(s):  
Inverted Pendulum ◽  
Tracking Error ◽  
Design Procedure ◽  
Design Parameters ◽  
Linkage Mechanism ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Extreme Load ◽  
Cable Drive ◽  
Spring Loaded Inverted Pendulum

High acceleration and extreme load are frequently appeared on high-speed locomotion of legged robot’s legs, imposing a challenging trade-off between weight and torque in leg design. This paper proposes a new design paradigm based on cable-drive and elastic linkage to solve the problem. The details of the design procedure are given, including the construction of the single leg. With the optimum design of the linkage mechanism, a combined index of the workspace and tracking error are used as object function, and taking geometrical design parameters of the linkage as optimization parameters. Based on the target workspace and the spring-loaded inverted pendulum model, the best foot trajectory in obstacle climbing and trotting gait are analyzed and illustrated. This paper built linkage cable-drive spring robot based on the legged module integration. Simulations and experiments indicate that linkage cable-drive spring robot performs stable trotting with control of the spring-loaded inverted pendulum model. Linkage cable-drive spring robot prototype experiments results are provided to verify the validity of the new method.

Design of stable aviation platform operated by cable drive

2020 ◽  
Vol 28 (6) ◽  
pp. 1245-1253
Author(s):  
石磊 SHI Lei ◽  
许永森 XU Yong-sen ◽  
田大鹏 TIAN Da-peng ◽  
王福超 WANG Fu-chao ◽  
王中石 WANG Zhong-shi
Keyword(s):  
Cable Drive

Asynchronous Phenomenon of the Ring Truss Deployable Antenna

2012 ◽  
Vol 170-173 ◽  
pp. 3415-3418
Author(s):  
Xin Yan Wu ◽  
An Ping Luo
Keyword(s):  
Friction Factor ◽  
Supporting Structure ◽  
Constraint Equations ◽  
Deployable Structure ◽  
Tensile Forces ◽  
Cable Drive ◽  
Deployment Dynamics ◽  
Design And Manufacture

The deployable structure of the ring truss have advantage properties, which can be used as an effective supporting structure of deployable antenna. The deployable experiment of ring truss antenna showed that there was asynchronous phenomenon at the course of the deployment. Dynamics theory including constraint equations and considering friction factor are built firstly. Then simulation is studied systematically for the deployment process of ring truss deployable antenna. At last, the conclusions are obtained that the friction insulted in tensile forces of the cable drive decrease and the asynchronous phenomenon in the process of the deployment. It will give some help to the design and manufacture of the ring truss antenna.

A Robot for Hand Rehabilitation: A Continuation of the MIT-MANUS Neuro-Rehabilitation Workstation

2001 ◽  
Author(s):  
Kristin A. Jugenheimer ◽  
Neville Hogan ◽  
Hermano I. Krebs
Keyword(s):  
Transmission System ◽  
Clinical Testing ◽  
Hand Rehabilitation ◽  
Design Elements ◽  
System Characterization ◽  
Cable Drive ◽  
Work Done

Abstract A novel robot for hand rehabilitation is described. The robot is a continuation of the work done with MIT-MANUS, a robot-aided neuro-rehabilitation workstation. Flexure bearings are used in conjunction with a cable-drive transmission system. The requirements of the robot and key design elements are described. We are presently completing assembly and should commence shortly with system characterization and clinical testing.

Design Consideration for Precise Cable Drive

2011 ◽  
Vol 305 ◽  
pp. 37-41 ◽  
Author(s):  
Ya Fei Lu ◽  
Da Peng Fan ◽  
De Jun Sheng ◽  
Zhi Yong Zhang
Keyword(s):  
High Efficiency ◽  
Tracking System ◽  
Optical Tracking ◽  
Steel Cable ◽  
Optical Tracking System ◽  
Design Considerations ◽  
Actual Application ◽  
Cable Drive ◽  
New Type ◽  
Matching Strategy

A brief overview of previously built Electro-Optical Tracking system reveals a trend toward smaller, more agile systems. Steel cable drive technology is an alternative to gearbox, belt and pulleys, chains and sprocket and other currently available transmission for several significant advantages, which includes backlash free, high stiffness, high efficiency, no lubrication etc.. As a new type of drive form, there were several key tradeoffs for the cable drive application, which will be developed and subjected in detail in this paper. Firstly Transmission principle and properties of cable drive is studied. Secondly, related design considerations of cable drive will be implemented and researched in detail, including the cable selection and capstan design, cable-groove matching strategy and cable tensioning design. Finally, actual application example of precise steel cable drive is presented for an Electro-Optical tracking gimbals, and performances tested validate the significant advantages of precise cable drive technology.

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