ARACHNIS: Analysis of Robots Actuated by Cables with Handy and Neat Interface Software
| Autor: | Stéphane Caro, Philippe Cardou, Ana Lucia Cruz Ruiz, François Guay |
|---|---|
| Přispěvatelé: | École Centrale de Nantes (ECN), Robots and Machines for Manufacturing, Society and Services (RoMas), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Université Laval [Québec] (ULaval), Laboratoire de robotique, CARO, Stéphane |
| Jazyk: | angličtina |
| Rok vydání: | 2015 |
| Předmět: |
0209 industrial biotechnology
Engineering Interface (computing) 02 engineering and technology Workspace law.invention [SPI.AUTO]Engineering Sciences [physics]/Automatic Parametric design Computer Science::Robotics Cable-driven robot Wire-driven robot 020901 industrial engineering & automation Robustness (computer science) law Capacity margin Wrench-feasible workspace [SPI.MECA.GEME] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph] Simulation Graphical user interface business.industry Parallel manipulator Control engineering 021001 nanoscience & nanotechnology [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph] [SPI.AUTO] Engineering Sciences [physics]/Automatic Static equilibrium Robot Wrench 0210 nano-technology business Interference |
| Zdroj: | Cable-Driven Parallel Robots, Mechanisms and Machine Science Cable-Driven Parallel Robots, Mechanisms and Machine Science, 32, Springer, pp.293-305, 2015, Mechanisms and Machine Science, ⟨10.1007/978-3-319-09489-2_21⟩ The Second International Conference on Cable-Driven Parallel Robots (CableCon 2014) The Second International Conference on Cable-Driven Parallel Robots (CableCon 2014), Aug 2014, Duisburg, Germany HAL Mechanisms and Machine Science ISBN: 9783319094885 |
| DOI: | 10.1007/978-3-319-09489-2_21⟩ |
| Popis: | International audience; This paper presents ARACHNIS, a graphical user interface for the analysis and parametric design of Cable Driven Parallel Robots~(CDPRs). ARACHNIS takes as inputs the design parameters of the robot, the task specifications, and returns a visualisation of the CDPR Wrench Feasible Workspace~(WFW) and Interference-Free Constant Orientation Workspace~(IFCOW). The WFW is traced from the capacity margin, a measure of the robustness of the equilibrium of the robot. Interferences between the moving parts of a CDPR are also determined by an existing technique for tracing the interference-free workspace of such robots. Finally, the WFW and the IFCOW of a planar cable-driven parallel robot and of a spatial cable-driven parallel robot are plotted in order to demonstrate the potential of ARACHNIS. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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