File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Conference Paper: Combined kinematic and static analysis of a cable-driven manipulator with a spring spine

TitleCombined kinematic and static analysis of a cable-driven manipulator with a spring spine
Authors
Issue Date2011
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2011, p. 2725-2730 How to Cite?
AbstractA humanoid neck design with low motion noise yields a cable-driven parallel manipulator to imitate two axis rotational motion of a human neck. The fixed base and moving platform of the manipulator are connected by four cables and a column compression spring. The four cables are actuated separately, while the spring can support weight on the moving platform. Although similar manipulators exist in literature, the analysis for them is scarce. The difficulty is that while traditional parallel manipulator usually has a rigid kinematic chain as the spine, this manipulator has a flexible spring. With the spring's lateral bending motion, new approach must be adopted to solve the kinematics. In this paper, we propose a method which combines the kinematics with the statics to solve them simultaneously. We parameterize the posture of the moving platform with four parameters and consider one of them as parasitic motion. Using the spring bending equation, we can obtain the parasitic motion and solve the inverse position problem. The analysis in this paper provides a novel way to analyze parallel manipulator with a spring spine, and it can be applied to other manipulators with flexible spines. © 2011 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/213259
ISSN

 

DC FieldValueLanguage
dc.contributor.authorGao, Bingtuan-
dc.contributor.authorZhao, Jianguo-
dc.contributor.authorXi, Ning-
dc.contributor.authorXu, Jing-
dc.date.accessioned2015-07-28T04:06:41Z-
dc.date.available2015-07-28T04:06:41Z-
dc.date.issued2011-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2011, p. 2725-2730-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/213259-
dc.description.abstractA humanoid neck design with low motion noise yields a cable-driven parallel manipulator to imitate two axis rotational motion of a human neck. The fixed base and moving platform of the manipulator are connected by four cables and a column compression spring. The four cables are actuated separately, while the spring can support weight on the moving platform. Although similar manipulators exist in literature, the analysis for them is scarce. The difficulty is that while traditional parallel manipulator usually has a rigid kinematic chain as the spine, this manipulator has a flexible spring. With the spring's lateral bending motion, new approach must be adopted to solve the kinematics. In this paper, we propose a method which combines the kinematics with the statics to solve them simultaneously. We parameterize the posture of the moving platform with four parameters and consider one of them as parasitic motion. Using the spring bending equation, we can obtain the parasitic motion and solve the inverse position problem. The analysis in this paper provides a novel way to analyze parallel manipulator with a spring spine, and it can be applied to other manipulators with flexible spines. © 2011 IEEE.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleCombined kinematic and static analysis of a cable-driven manipulator with a spring spine-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ICRA.2011.5979621-
dc.identifier.scopuseid_2-s2.0-84865259783-
dc.identifier.spage2725-
dc.identifier.epage2730-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats