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Memorias de investigación
Artículos en revistas:
Potential Energy Distribution of Redundant Cable-Driven Robot Applied to Compliant Grippers: Method and Computational Analysis
Año:2019
Áreas de investigación
  • Cinemática
Datos
Descripción
Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achieve secondary objectives like energetic minimization or additional movements. This article presents a method based on energy distribution to handle the redundancy of cable-driven parallel robots. This method allows the deformation and tension of each link to be related to the total energy available in the parallel robot. The study of energy distribution expression allows deformation, tension, and position to be combined. It also defines the range of tension and deformation that cables can achieve without altering the wrench exerted on the end-effector. This range is used with a passive reconfigurable end-effector to control the position of two grippers attached to some cables which act as compliant actuators. The relationship between the actuators? energy and their corresponding gripper positions is also provided. In this way, energy measurement from the actuators allows the grasping state to be sensed. The results are validated using multibody dynamic software.
Internacional
Si
JCR del ISI
Si
Título de la revista
Sensors
ISSN
****-****
Factor de impacto JCR
3,275
Información de impacto
Volumen
19(15)
DOI
10.3390/s19153403
Número de revista
Desde la página
3403
Hasta la página
3403
Mes
JUNIO
Ranking
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Alejandro Rodriguez Barroso (UPM)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
  • Autor: Gerardo Alejandro Portilla Tuesta (UPM)
  • Autor: Juan Sebastian Cely Gutiérrez (UPM)
  • Autor: Oz Yakrangi . (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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