Optimization of Stiffness and Dexterity of Fiber Driven Parallel Kinematical Structure

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F11%3A00191512" target="_blank" >RIV/68407700:21220/11:00191512 - 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

Optimization of Stiffness and Dexterity of Fiber Driven Parallel Kinematical Structure

Popis výsledku v původním jazyce

The paper deals with the optimization of fiber driven parallel kinematical structures. It is the primary study of geometrical layout and basic properties of two types of these structures. Both structures consist of platform, driven by eight fibers (firstplatform is moving by general spatial motion with six degrees of freedom (DOFs), second is moving by spherical motion with three DOFs). Fibers from the platform leads over pulleys fixed to the base frame to linear motors moving also on the base frame. Both platforms are redundantly actuated. Using three global computational tools for stiffness, dexterity and collisions we are able to find optimum variant of geometrical layout of the structure. In the future, optimization program must be more detailed and must be equipped by additional routines for computation dynamics, kinematical accuracy and calibratability.

Název v anglickém jazyce

Optimization of Stiffness and Dexterity of Fiber Driven Parallel Kinematical Structure

Popis výsledku anglicky

The paper deals with the optimization of fiber driven parallel kinematical structures. It is the primary study of geometrical layout and basic properties of two types of these structures. Both structures consist of platform, driven by eight fibers (firstplatform is moving by general spatial motion with six degrees of freedom (DOFs), second is moving by spherical motion with three DOFs). Fibers from the platform leads over pulleys fixed to the base frame to linear motors moving also on the base frame. Both platforms are redundantly actuated. Using three global computational tools for stiffness, dexterity and collisions we are able to find optimum variant of geometrical layout of the structure. In the future, optimization program must be more detailed and must be equipped by additional routines for computation dynamics, kinematical accuracy and calibratability.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JR - Ostatní strojírenství

OECD FORD obor

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Projekt

<a href="/cs/project/GAP101%2F11%2F1627" target="_blank" >GAP101/11/1627: Naklápěcí mechanismy založené na vláknové paralelní kinematické struktuře s bezvůlovým řízením</a><br>

Návaznosti

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

Rok uplatnění

2011

Kód důvěrnosti údajů

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

Název periodika

Bulletin of Applied Mechanics

ISSN

1801-1217

e-ISSN

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Svazek periodika

7

Číslo periodika v rámci svazku

28

Stát vydavatele periodika

CZ - Česká republika

Počet stran výsledku

4

Strana od-do

81-84

Kód UT WoS článku

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EID výsledku v databázi Scopus

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