SpiderBot: a cable-suspended walking robot

被引：11
作者：
Capua, A. [1 ]
Shapiro, A. [1 ]
Shoval, S. [2 ]
机构：
[1] Ben Gurion Univ Negev, Dept Mech Engn, IL-84105 Beer Sheva, Israel
[2] Ariel Univ, Dept Ind Engn & Management, Ariel, Israel
来源：
MECHANISM AND MACHINE THEORY | 2014年 / 82卷
关键词：
Cable-suspended robot; Underconstrained mechanism; Motion planning; WORKSPACE; DESIGN; FORCE;
D O I：
10.1016/j.mechmachtheory.2014.07.007
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents a novel concept of amobile cable-suspended robot called SpiderBot. The robot consists of four cable-mechanisms and a central body. Each cable-mechanism includes a cable, a dispensing and rolling mechanism, and a gripper at the end of the cable. The robot shoots an arrow-like grasping mechanism towards possible grasping points. The grasping mechanism is attached to the distal end of the cable. Then it pulls the cables simultaneously in a coordinated manner, hence the robot can perform controlled motion of the central body. Depending on the locations of the grasping points and the coordinated pulling, the robot can perform motion around and over obstacles. In this paper the design, kinematics, statics, motion planning, simulation results and experiments that were conducted are presented using our SpiderBot prototype. (C) 2014 Elsevier Ltd. All rights reserved.
引用
收藏
页码：56 / 70
页数：15
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