Cable Driven Spherical Mechanism Quadrosphere Enhanced by 3 DOF Piezo-actuated Platform
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F17%3A43950894" target="_blank" >RIV/49777513:23520/17:43950894 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21220/17:00320808
Result on the web
<a href="http://multibody2017.cz/wp-content/uploads/2017/12/MBD2017_Conference_Proceedings_online.pdf" target="_blank" >http://multibody2017.cz/wp-content/uploads/2017/12/MBD2017_Conference_Proceedings_online.pdf</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Cable Driven Spherical Mechanism Quadrosphere Enhanced by 3 DOF Piezo-actuated Platform
Original language description
The paper deals with the optimization and control synthesis of multi-level mechanism based on cable/fibre driven spherical mechanism Quadrosphere. Multi-level means, that the mechanism consists of the main movable platform and at least one superimposed mechanism. The primary mechanism is considered as a parallel cable driven one, combining principles of parallel kinematics with the usage of cables/fibres/ropes/belts as links, which brings many advantages, namely the light-weight, large range of motion, possibility of anti-backlash operation, easy reconfiguration and even cheaper construction compared to mechanisms with traditional links. On the other hand the cables naturally limit these machines to the area of low frequencies, where the higher frequencies can be covered by the superimposed structure that provides smaller but fast components of requested motion. The presented idea is concretized for the experimental demonstrator of spherical mechanism Quadrosphere. It has been assembled and added by 6 DOF cubic truss created from piezoelectric stack actuators and carrying the secondary platform. The controllability of the platform motion has been tested for two variants of active truss positioning. The next step have been optimization, design and build of additional 3DOF platform fully tailored to the primary Quadrosphere mechanism. Mechanically amplified piezoactuators have been chosen for its actuation. Finally the control of multi-level mechanism using H∞ linear controller of fixed-order has been developed. The experiments with multi-level mechanism will be realized in the near future.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20302 - Applied mechanics
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
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 8th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS 2017, MBD 2017
ISBN
978-80-01-06174-9
ISSN
2523-9589
e-ISSN
2523-9589
Number of pages
8
Pages from-to
551-557
Publisher name
Nakladatelství ČVUT (CTN), Zikova 1903/4, 166 36 Praha 6 - Dejvice
Place of publication
Prague
Event location
Prague, Czech Republic
Event date
Jun 19, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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