1,721,043 research outputs found
Static performance improvement of an industrial robot by means of a cable-driven redundantly actuated system
Full text linkEvery industrial robot has a specific kinematics, which often results in anisotropic performance within its workspace in terms of force and velocity. A cable-driven system can be used to improve the force manipulability of a robot by introducing an actuation redundancy. Such system acts directly on the robot end-effector increasing its flexibility of use in applications where a higher and more uniform force performance is required. This work is focused on high-thrust operations, for example robotic friction stir welding or incremental forming, realized by means of a highly anisotropic industrial robot
Analysis of handling and vertical dynamics of a 4 steering wheels electric vehicle powered by 2 in-wheel motors
Full text linkA Dimensionless Large Displacement Model for Flexure Hinges of Elliptical Geometry
No full textFlexure hinges are joints typically used in the design and manufacturing of compliant mechanisms, especially when small dimensions do not allow for conventional mechanical devices. In this paper, a closed-form solution is proposed for a nonlinear stiffness model used to describe the static displacements obtained on a flexure hinge of elementary geometry as a function of applied loads. A comparison with the most widely used linear model demonstrates the effectiveness of the proposed nonlinear approach, highlighting the advantages of its use in its scope of application. The obtained results are verified by finite element (FE) simulations, taken as a reference of the actual behavior assumed for the joints studied
Visual based control system of a 3-CPU translational parallel manipulator
No full textRecent advances in vision devices and image processing has allowed to integrate vision sensors into the control architecture of robot systems to include information regarding robot’s environment: in this case the feedback loop handles operational space variables based on a real time estimation of the end-effector pose obtained by means of an elaboration of visual measurements. The paper presents an application of visual servoing on a 3-CPU translational parallel manipulator with a camera mounted directly on the moving platform, in the so-called eye-in-hand configuration. After an introductory description of the robot and of the control and vision hardware, the calibration process of the camera is explained and a PD controller with gravity compensation is presented
Dynamic Analysis of the I.Ca.Ro. Parallel Manipulator
Full text linkThe present article is taken from a paper presented at the 18th RAAD International Workshop and discusses the dynamic model of the I.Ca.Ro. Cartesian Parallel Manipulator, a research parallel kinematics machine (PKM) with 3-CPU architecture which is capable of motions of pure translation: the modelling of robot's dynamics has been performed by means of the principle of virtual works and several computer simulations allowed a thorough study of its dynamic behaviour. The first experimental tests have shown the effectiveness of the model even if further investigations have to be undertaken to account for friction and joint deflections
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