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Cable-drum systems are utilized to convert the rotary motion of a drum into a translational motion of a linear stage connected to the cable. These systems are preferred where low backlash and high stiffness is expected. They are commonly employed in machines like elevators, photocopy machines, printers, plotters etc. For machines having long working ranges, cable-drum systems employing a high resolution...
In this paper, the mechatronic model of the cable-driven parallel robot IPAnema ispresented. The dynamic equations are established including the dynamic behavior of the mobileplatform, the pulley kinematics of the winches, and a cable model based on linear springs. Themodel of the actuation systems consists of the electro-dynamic behavior of the power train as wellas the dynamics of the servo controller...
Most walking machines cannot operate within the typical natural environment, including ground relief especially. In that case, the main tasks are adaptive gait control realization and perceptual computing system developing. There are no paths to solve this problem without new experimental exploration of animals‘ gaits. Usage of high speed strobelight photography made its possible to observe some hidden...
Ensuring safety for human robot interaction requires knowledge of the dynamic stopping behavior of the robot. This paper presents a multibody model developed to simulate the movement of industrial robots during the braking process. The main contribution is the suggested state-based braking model to overcome numerical problems of the friction behavior upon transitions between sliding and sticking....
The paper attempts to give a contribution about the mechanical and thermal behavior of fluidic muscles, through theoretical modeling and experimental tests. Fluidic muscles are innovative mechanical components particularly attractive for their flexibility and performances. In particular, braided pneumatic muscle actuators are a very significant development of the pneumatics, being able to operate...
This paper focuses on the study of static and dynamic stiffness (normal modes and natural frequencies) by a method which enables to evaluate the vibration behaviour of low mobility parallel manipulators, i.e., less than 6 degrees-of-freedom. The purpose of this study is to improve the structural behaviour of this type of manipulators under the effect of static and dynamic external loads. As a starting...
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