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HexaSphere with Cable Actuation

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F09%3A00161087" target="_blank" >RIV/68407700:21220/09:00161087 - isvavai.cz</a>

  • Result on the web

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    HexaSphere with Cable Actuation

  • Original language description

    The paper deals with details of development of cable actuated version of spherical mechanism HexaSphere, a redundantly actuated mechanism with parallel kinematic structure. The cables can only transfer tension forces, stress load of the cables would makethe mechanism collapse. That can be achieved by antibacklash control principle. Antibacklash area of mechanism HexaSphere is mapped first. Secondly actuation forces required for given trajectory and robot's dynamics are computed and minimised by dimension optimisation.

  • Czech name

  • Czech description

Classification

  • Type

    C - Chapter in a specialist book

  • CEP classification

    BC - Theory and management systems

  • OECD FORD branch

Result continuities

  • Project

  • Continuities

    Z - Vyzkumny zamer (s odkazem do CEZ)

Others

  • Publication year

    2009

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Book/collection name

    Recent Advances in Mechatronics 2008-2009

  • ISBN

    978-3-642-05021-3

  • Number of pages of the result

    6

  • Pages from-to

  • Number of pages of the book

    450

  • Publisher name

    Springer-Verlag

  • Place of publication

    Berlin

  • UT code for WoS chapter