Design of Continuous Backbone, Cable-Driven Robots

[+] Author and Article Information
Changquing Li

Department of Mechanical Engineering, Clemson University, Clemson, SC 29634  

Christopher D. Rahn

Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, University Park, PA 16802

J. Mech. Des 124(2), 265-271 (May 16, 2002) (7 pages) doi:10.1115/1.1447546 History: Received June 01, 2000; Online May 16, 2002
Copyright © 2002 by ASME
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(a) Continuous backbone robot with two sections, four cable pairs, and 14 segments; (b) Schematic diagram of a continuous backbone cable-driven robot
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Kinematics for h=0.05: (a) Constant curvature (dashed), nonlinear (solid) and experimental ( * ) nondimensional endpoint vertical displacement y(1) versus tension T; (b) Numerical (dashed) and experimental (solid) upper cable length lU versus tension T for h=0.05; (c) Theoretical and experimental segment shapes at T=7 and 14
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Solution space for nonlinear kinematics: Constant curvature model error contours (solid lines), eyelet contact limit (hatched line) and multiple solution region (gray)
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Numerical (solid line) and experimental ( * ) maximum beam tip displacement ymax(1) versus height h
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Cable slack: (a) The maximum cable slack SLMAX versus the nondimensional height h; (b) The upper cable length lU, lower cable length lL, and slack SL versus tension T(h=0.3) with the  * , o, + denoting the experimental points of lU,lL, and SL, respectively
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Load capacity: (a) Numerical (solid line) and experimental (+) maximum load capacity w versus eyelet height h with torque loading m=0 (top), 0.5 (middle) and 1 (bottom); (b) Vertical displacement y(1) versus tension T for applied force w=0.5 (solid) and 2.5 (dashed); (c) Segment displacement for T=8 and w=0.5; (d) Segment displacement for T=8 and w=2.5




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