Journal
JOURNAL OF MECHANICAL DESIGN
Volume 124, Issue 2, Pages 265-271Publisher
ASME
DOI: 10.1115/1.1447546
Keywords
-
Categories
Ask authors/readers for more resources
Continuous backbone robots driven by cables have many potential applications in dexterous manipulation for manufacturing and space environments. Design of these robots requires specification of a stiff yet bendable backbone, selection of cable support heights and spacings, and development of a cable drives system. The robot arm divides into sections that are subdivided into segments bounded by cable supports, Cable pairs attach to the end of each section and provide two avis bending. Thus, with many sections, the arm can be bent into complex shapes to allow redundant positioning of the end effector payload. The kinematics of the entire arm are determined from the segment kinematics. This paper derives and numerically solves the nonlinear kinematics for a single segment of a continuous backbone robot. Optimal spacing of the cable supports maximizes displacement, load capacity. and simplicity of the robot kinematics. All experimental system verifies the theoretically predicted performance.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available