Titlebook: Advances in Robot Kinematics 2022; Oscar Altuzarra,Andrés Kecskeméthy Conference proceedings 2022 The Editor(s) (if applicable) and The Au

PANT

Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robotachine interfaces in object comanipulation tasks. An index quantifying the transparency of a CDPR is first introduced. The stiffness of the robot is determined in simulation which parameters have been experimentally identified. Particular attention is paid to the effect of the Moving-Platform pose a

characteristic

An Approach for Predicting the Calibration Accuracy in Planar Cable-Driven Parallel Robotshe combination of a laser displacement sensor and an inclinometer attached to the moving platform. The actual accuracies of the sensors are tested at first for higher calibration quality. Through simulation, with more measurement poses used, the system variable identification errors are reduced, and

调整

A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots. We show that whatever the size of the CDPR is we may have slack cables so that using a sagging cable model that takes into account both the mass and elasticity of the cables will improve the positioning accuracy. Being able to solve the inverse and direct kinematics (IK/DK) with sagging cables is

Jingoism

Sensitivity of the Direct Kinematics of Underactuated Cable-Driven Parallel Robots to Redundant Senserconstrained and, for assigned cable lengths, the . pose cannot be obtained from geometrical constraint equations only. In this paper, we study the performance of a direct-kinematics algorithm using redundant sensor measurements for a 4-cable .. The proposed method measures two orientation paramete

Critical

Stacked Tensegrity Mechanism for Medical Applicationn top of another. The size of the segments may decrease proportionally from base to top, resulting in a tapered shape from base to tip like an elephant trunk. The system was mechanically formulated as having linear springs and cables functioning as actuators. The singularities, as well as the stabil

quiet-sleep

Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategr X-) tensegrity joints and remotely driven with cables. Two actuation schemes with 4 cables and 3 cables, respectively, are considered for this manipulator. The physical limitations on the velocities and forces of the actuating cables are mapped onto the task space of the manipulator, to quantify t

生气地

新陈代谢

Misgiving

On Origami-Like Quasi-mechanisms with an Antiprismatic Skeletonsional family of origami-like sandglasses we study the 1-parametric sets of quasi-mechanisms which are either . or have an ., i.e. one realization is on the boundary of self-intersection. Moreover, we evaluate the capability of these snapping/shaky quasi-mechanisms to flex on base of the . index and the novel . index, respectively.

harpsichord