Cable robots are parallel manipulators in which rigid links are replaced by cables, while actuator and transmission systems are responsible for commanding the end-effector by rolling cables in and out by means of drums and changing cable direction by means of pulleys. Commonly developed kinetostatic models assume that the robot frame and end-effector are point-to-point connected. This assumption may induce non-negligible errors in the end-effector pose when performing pick and place operations or trajectory tracking. This paper deals with a new design for connecting the frame and end-effector to reduce any modeling inaccuracies due to the aforementioned assumption. Experimental tests are presented for a planar 4 cable robot.
A Novel Design to Improve Pose Accuracy for Cable Robots
OTTAVIANO, Erika;REA, Pierluigi
2015-01-01
Abstract
Cable robots are parallel manipulators in which rigid links are replaced by cables, while actuator and transmission systems are responsible for commanding the end-effector by rolling cables in and out by means of drums and changing cable direction by means of pulleys. Commonly developed kinetostatic models assume that the robot frame and end-effector are point-to-point connected. This assumption may induce non-negligible errors in the end-effector pose when performing pick and place operations or trajectory tracking. This paper deals with a new design for connecting the frame and end-effector to reduce any modeling inaccuracies due to the aforementioned assumption. Experimental tests are presented for a planar 4 cable robot.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
