Dynamic analysis of the cable driven mechanism with joint clearances
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F21%3A43961494" target="_blank" >RIV/49777513:23520/21:43961494 - 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
Dynamic analysis of the cable driven mechanism with joint clearances
Original language description
This paper deals with investigating the effect of joint clearances within a computational model of a cable manipulator called QuadroSphere. The QuadroSphere has a parallel kinematic structure with three rotational degrees of freedom. Position of the end-effector is determined by four cable systems which make this manipulator redundant. The clearance is a consequence of manufacturing tolerances and physical functionality of the joint, where the clearance is necessary for enabling relative motion. The introduced computational model allows detailed analysis of the effect of joint clearances on the QuadroSphere end-effector precise positioning and can also be used as a benchmark problem for various joint clearance modelling techniques.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
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OECD FORD branch
20302 - Applied mechanics
Result continuities
Project
<a href="/en/project/GA20-21893S" target="_blank" >GA20-21893S: Mechatronic tensegrities for energy efficient light robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů