Cable-direct-driven-robot (CDDR) with a 3-link passive serial support

Cable-direct-driven-robots (CDDRs) provided with a passive serial support represent an interesting and rising evolution of planar cable robots. The paper is devoted to present and analyze a novel CDDR robot. The robot consists in a fully actuated CDDR supported against loading normal to the motion p...

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Veröffentlicht in:	Robotics and computer-integrated manufacturing 2014-06, Vol.30 (3), p.265-276
Hauptverfasser:	Pigani, Lorenzo, Gallina, Paolo
Format:	Artikel
Sprache:	eng
Schlagworte:	Damping Dynamics Dynamics modeling Hybrid structures Manipulators Oscillation constraints Planes Robot arms Robots Serials Tension constraints Trajectory planning Underactuated passive serial support Underconstrained cable-direct-driven robots
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