Cable Driven Mechanisms with Added Piezo Active Platform
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F15%3A43927898" target="_blank" >RIV/49777513:23520/15:43927898 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Cable Driven Mechanisms with Added Piezo Active Platform
Original language description
The paper describes the concept of a multi-level hierarchical manipulator consisting of a cable-driven platform and superimposed active platform driven by piezoelements. The cable manipulator is lightweight, reconfigurable and covers large workspace, theattached active structure improves the behavior in case of rapid motions, position accuracy and vibration suppression. The aim of the paper is to describe basic kinematic analysis of available workspace, calculation and optimization of dexterity, tuningof the frequency bandwidth of the feedback motion control and maximization of controllability. The set of preliminary experiments performed using experimental test stand is presented as well. These tests are focused mainly on identification and comparison of different structure configurations of the multi-level manipulator.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GA15-20134S" target="_blank" >GA15-20134S: Multi-Level Light Mechanisms with Active Structures</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů