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

页码：1243 / +

页数：3