Design, modelling and analysis of concepts of planar serial robots based on tensegrity structures

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F21%3A00352812" target="_blank" >RIV/68407700:21220/21:00352812 - 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

Design, modelling and analysis of concepts of planar serial robots based on tensegrity structures

Popis výsledku v původním jazyce

The paper presents the process of design, modelling and analysis of concepts of serial robots, whose construction is based on tensegrity structures. The sequence of concepts can be described as a transition from a classic serial robot to a full tensegrity structure. Subsequently, dynamic models were developed for selected concepts using the SimScape environment of the MatLab program. Local control of the initial lengths of the cables was used to control the movement of these models, where the overall desired shape of the structure is determined based on the position of the end effector and then the free lengths of the cables are controlled to achieve this shape. The aim of the paper is to compare the key properties of robots such as the size of the working space, bending stiffness, etc. of individual concepts with a traditional serial robot.

Název v anglickém jazyce

Design, modelling and analysis of concepts of planar serial robots based on tensegrity structures

Popis výsledku anglicky

The paper presents the process of design, modelling and analysis of concepts of serial robots, whose construction is based on tensegrity structures. The sequence of concepts can be described as a transition from a classic serial robot to a full tensegrity structure. Subsequently, dynamic models were developed for selected concepts using the SimScape environment of the MatLab program. Local control of the initial lengths of the cables was used to control the movement of these models, where the overall desired shape of the structure is determined based on the position of the end effector and then the free lengths of the cables are controlled to achieve this shape. The aim of the paper is to compare the key properties of robots such as the size of the working space, bending stiffness, etc. of individual concepts with a traditional serial robot.

Druh

O - Ostatní výsledky

CEP obor

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OECD FORD obor

20302 - Applied mechanics

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)

Rok uplatnění

2021

Kód důvěrnosti údajů

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