Title: Design of structure and control of planar robots with rigid and cable components
Authors: Krivošej, J.
Šika, Z.
Kraus, K.
Citation: Computational mechanics 2018: book of extended abstracts: 34th conference with international participation, p. 45-46.
Issue Date: 2018
Publisher: Západočeská univerzita v Plzni
Document type: konferenční příspěvek
URI: http://hdl.handle.net/11025/30800
ISBN: 978-80-261-0819-1
Keywords: planární robot;řízení robota;řídicí systémy
Keywords in different language: planar robot;robot control;control systems
Abstract in different language: This paper deals with designing and controlling a robot with rigid and cable elements. This work is the first step which leads to the idea of the 3D serial robot structure driven by cables and joints actuators. A planar robot structure is chosen, see Fig. 1. The structure is formed by Fig. 1. Planar cable driven serial arm with marked parameters for optimization a serial part (three beams connected by joint actuators) and a parallel part (four cables attached on serial structure and driven by actuators with pulley).
Rights: Copyright © 2018 University of West Bohemia, Plzeň, Czech Republic
Appears in Collections:Computational mechanics 2018
Computational mechanics 2018

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