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Download e-book for iPad: Cable-Driven Parallel Robots by Bruckmann, Tobias; Pott, Andreas

By Bruckmann, Tobias; Pott, Andreas

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Example text

4. The upper limits of motor torque are presented with dashed lines. It can be shown that decreasing ε makes more required torque and the curves lay on their own saturation limit. One of the key points in cable robots is that, the cable forces should always be positive. 00 is displayed in Fig. 5. The demonstration of tensionability in results can be used as a proof for constraint consistency which leads to the appropriateness of the control motor torques. 5 Time (s) Fig. 00 6 Conclusion The motion planning problem for cable-suspended parallel manipulators is investigated via a computational algorithm on the basis of the optimal control approach.

Planar translational cable-direct-driven robots: design for wrench exertion. J. Intell. Robot. Syst. 35, 203–219 (2002) Navigating the Wrench-Feasible C-Space of Cable-Driven Hexapods Oriol Bohigas, Montserrat Manubens and Lluís Ros Abstract Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack—to keep the control of the platform—nor excessively tight—to prevent cable breakage—even in the presence of bounded perturbations of the wrench.

15) where U ∗ is optimal control and U¯ is all admissible control and ψ = ψ1T is the vector of costates. The performance index now looks like ψ2T T tf Minimi ze J0 = U (t) L(X, U, t)dt (16) t0 where L(X, U, t) = 1 + ε2 X1 2 W1 + X2 2 W2 + U 2 R . ) is a smooth, differentiable function in the arguments, ||X||2K = is the generalized squared norm, W1 and W2 are symmetric, positive semidefinite (m×m) weighting matrices and R is symmetric, positive definite (m×m) matrices. The time-energy objective function consists of an ε-weighted combination of the time.

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Cable-Driven Parallel Robots by Bruckmann, Tobias; Pott, Andreas

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