Dynamic analysis of the cable driven mechanism with joint clearances
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
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DOI - Digital Object Identifier
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Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Dynamic analysis of the cable driven mechanism with joint clearances
Popis výsledku v původním jazyce
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.
Název v anglickém jazyce
Dynamic analysis of the cable driven mechanism with joint clearances
Popis výsledku anglicky
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.
Klasifikace
Druh
O - Ostatní výsledky
CEP obor
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OECD FORD obor
20302 - Applied mechanics
Návaznosti výsledku
Projekt
<a href="/cs/project/GA20-21893S" target="_blank" >GA20-21893S: Mechatronické tensegrity pro energeticky efektivní lehké roboty</a><br>
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Ostatní
Rok uplatnění
2021
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů