Centro de Automática y Robótica, Universidad Politécnica de Madrid, C/José Gutiérrez Abascal 2, 28006 Madrid, Spain.
Grupo de Investigación en Interacción Robótica y Automática. Universidad Politécnica Salesiana, Calle Turuhuayco 3-69 y Calle Vieja, 10150 Cuenca, Ecuador.
Sensors (Basel). 2018 Aug 22;18(9):2765. doi: 10.3390/s18092765.
Redundancy in cable-driven parallel robots provides additional degrees of freedom that can be used to achieve different objectives. In this robot, this degree of freedom is used to act on a reconfigurable end effector with one degree of freedom. A compliant actuator actuated by one motor exerts force on both bodies of the platform. Due to the high tension that appears in this cable in comparison with the rest of the cables, an elastic model was developed for solving the kinestostatic and wrench analysis. A linear sensor was used in one branch of this cable mechanism to provide the needed intermediate values. The position of one link of the platform was fixed in order to focus this analysis on the relationship between the cables and the platform's internal movement. Position values of the reconfigurable end effector were calculated and measured as well as the tension at different regions of the compliant actuator. The theoretical values were compared with dynamic simulations and real prototype results.
在缆驱动并联机器人中，冗余度提供了额外的自由度，可以用来实现不同的目标。在这个机器人中，这个自由度被用来作用于一个具有一个自由度的可重构末端执行器。一个由一个电机驱动的柔顺执行器对平台的两个体施加力。由于与其他电缆相比，这条电缆中的张力很高，因此开发了一个弹性模型来解决运动静力学和扳手分析。在线缆机构的一个分支中使用了一个线性传感器来提供所需的中间值。平台的一个连杆的位置被固定，以便将这个分析集中在电缆和平台内部运动之间的关系上。计算和测量了可重构末端执行器的位置值以及在柔顺执行器的不同区域的张力。理论值与动态模拟和实际原型结果进行了比较。
