Eigenmotion Concept of Cable Driven Mechanism with Absorbing Elements

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F22%3A00362306" target="_blank" >RIV/68407700:21220/22:00362306 - isvavai.cz</a>
Result on the web
<a href="http://dspace5.zcu.cz" target="_blank" >http://dspace5.zcu.cz</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Eigenmotion Concept of Cable Driven Mechanism with Absorbing Elements
Original language description
The paper deals with the principle of eigenmotion, which is based on the idea of keeping the total energy constant during the motion of the mechanism. The idea of applying the eigenmotion principle is mainly linked to single-purpose mechanisms where there is a requirement to move along a periodically repeating trajectory. Therefore, the paper deals with the extension of the eigenmotion principle to cable-driven mechanisms which potentially has a larger number of members giving the possibility of generating more complex trajectories or easier reconfiguration of the manipulator for switching from one eigenmotion trajectory to another. This is demonstrated on the basic element of a cable-driven manipulator where dynamic properties, control options and adjustment options for changing the eigenmotion trajectory are examined. The approach of dynamic modelling examines and compares different modelling of a cable and its behaviour, including dynamic models of the pulleys that wind the cables.
Czech name
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Czech description
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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)

Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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