RECIPROCAL SCREW-BASED FORCE-CLOSURE OF CABLE-DRIVEN CLOSED CHAINS

被引：0
|
作者：
Mustafa, Shabbir Kurbanhusen [2 ]
Agrawal, Sunil Kumar [1 ]
机构：
[1] Univ Delaware, Dept Mech Engn, Newark, DE 19716 USA
[2] Agcy Sci Technol & Res, Singapore, Singapore
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE - 2011, VOL 6, PTS A AND B | 2012年
关键词：
WORKSPACE; ALGEBRA;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Extensive research has been conducted in force-closure analysis of single rigid-bodied cable-driven platforms, and very recently of cable-driven open chains. However, force-closure analysis of cable-driven closed chains is still an open question. For the case of an n-DOF closed chain driven by cables, two important questions arise: (i) How can force-closure analysis be carried out for a given cable routing configuration while retaining the geometric insights of the problem? (ii) Are n+1 cables sufficient to fully constrain the entire closed chain? This paper will address these issues and propose a systematic and novel approach based on the reciprocal screw theory. The proposed methodology can analyze closed chains with arbitrary cable routings and the analysis shows that an n-DOF closed chain requires a minimum of n+1 cables to fully constrain it.
引用
收藏
页码：1243 / +
页数：3
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