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
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DOI - Digital Object Identifier
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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
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Czech description
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Classification
Type
C - Chapter in a specialist book
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
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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
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Number of pages of the book
450
Publisher name
Springer-Verlag
Place of publication
Berlin
UT code for WoS chapter
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