Analysis on variable stiffness of a cable-driven parallel–series hybrid joint toward wheelchair-mounted robotic manipulator
| Autor: | Shan Zhang, Dongxing Cao, Bin Hou, Shuai Li, Hong Min, Xinglei Zhang |
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| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: | |
| Zdroj: | Advances in Mechanical Engineering, Vol 11 (2019) |
| Druh dokumentu: | article |
| ISSN: | 1687-8140 16878140 |
| DOI: | 10.1177/1687814019846289 |
| Popis: | The design of variable stiffness mechanism is of great importance to wheelchair-mounted robotic manipulators. In this article, the authors propose a cable-driven parallel–series hybrid joint toward wheelchair-mounted robotic manipulators with adjusting the system stiffness actively. The joint is a cable-driven, compression-spring-supported hybrid mechanism. Then, the kinematic analysis and cable tension analysis through static modeling are established to derive the joint stiffness model. Finally, cable-driven parallel–series hybrid joint stiffness adjustment ability analysis is carried out in four different load cases with MATLAB. Featured with light structure, stiffness adjustability, and large workspace, the proposed cable-driven parallel–series hybrid joint proves to be of great potential use for wheelchair-mounted robotic manipulators. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
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