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In this paper, a novel decoupled 5-DOF flexure-based register system is proposed to achieve the improvement of registration accuracy, which is a key indicator to measure the performance for Multilayer Roll-to-roll Printed Electronics (MR2RPE) equipment. The register system consists of 4-DOF compliant Support Mechanism and 1-DOF compliant Platform, each comprising some flexure-beam prismatic joints...
In this paper, a cable-driven spherical joint with angle feedback is proposed and the geometric numerical inverse kinematic algorithm is analyzed. Based on this, a new online control method is presented. In this method, the actual position of the spherical joint is calculated via inverse kinematics and the control error is compensated immediately. A experimental system with industrial PC (IPC) and...
A 7-DOF cable-driven manipulator is analyzed in the paper. First, according to the torque equilibrium, a static equation of the manipulator is deduced. Then, a dynamic formulation based on the static equation is followed, which includes the influence of external torque, gravity torque, inertial torque and gyroscopic torque. And then, an effective approach of calculating the external torque, gravity...
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