Cable Driven Mechanisms with Added Piezo Active Platform

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F15%3A43927898" target="_blank" >RIV/49777513:23520/15:43927898 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Cable Driven Mechanisms with Added Piezo Active Platform

Popis výsledku v původním jazyce

The paper describes the concept of a multi-level hierarchical manipulator consisting of a cable-driven platform and superimposed active platform driven by piezoelements. The cable manipulator is lightweight, reconfigurable and covers large workspace, theattached active structure improves the behavior in case of rapid motions, position accuracy and vibration suppression. The aim of the paper is to describe basic kinematic analysis of available workspace, calculation and optimization of dexterity, tuningof the frequency bandwidth of the feedback motion control and maximization of controllability. The set of preliminary experiments performed using experimental test stand is presented as well. These tests are focused mainly on identification and comparison of different structure configurations of the multi-level manipulator.

Název v anglickém jazyce

Cable Driven Mechanisms with Added Piezo Active Platform

Popis výsledku anglicky

The paper describes the concept of a multi-level hierarchical manipulator consisting of a cable-driven platform and superimposed active platform driven by piezoelements. The cable manipulator is lightweight, reconfigurable and covers large workspace, theattached active structure improves the behavior in case of rapid motions, position accuracy and vibration suppression. The aim of the paper is to describe basic kinematic analysis of available workspace, calculation and optimization of dexterity, tuningof the frequency bandwidth of the feedback motion control and maximization of controllability. The set of preliminary experiments performed using experimental test stand is presented as well. These tests are focused mainly on identification and comparison of different structure configurations of the multi-level manipulator.

Druh

O - Ostatní výsledky

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

<a href="/cs/project/GA15-20134S" target="_blank" >GA15-20134S: Vícestupňové lehké mechanismy s aktivními strukturami</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2015

Kód důvěrnosti údajů

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