Polynomial Piece-Wise Stiffness in Cable-Based Transmissions for Robots: Modeling and Identification
Sign Up to like & getrecommendations! Published in 2017 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2017.08.2105
Abstract: Abstract This paper deals with cable-based motor-to-joint transmissions of multi-link robots chain. Their effects on robots flexibility have to be taken into account for modeling and control design. More in details, slack cables do not… read more here.
Keywords: cable based; stiffness; piece wise;
On the modeling and identification of stiffness in cable-based mechanical transmissions for robot manipulators
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DOI: 10.1016/j.mechmachtheory.2016.10.020
Abstract: Abstract In this paper, we consider cable-based motor-to-joint transmissions which are known to introduce flexibility phenomena in the dynamic behaviour of robot manipulators. Their effects have to be taken into account for modeling and control… read more here.
Keywords: modeling identification; cable based; stiffness; cable ... See more keywords
Cable Decoupling and Cable-Based Stiffening of Continuum Robots
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DOI: 10.1109/access.2022.3210120
Abstract: Cable-driven continuum robots, which are robots with a continuously flexible backbone and no identifiable joints that are actuated by cables, have shown great potential for many applications in unstructured, uncertain environments. However, the standard design… read more here.
Keywords: cable; cable decoupling; cable based; continuum robots ... See more keywords
An SMA cable-based negative stiffness seismic isolator: Development, experimental characterization, and numerical modeling
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DOI: 10.1177/1045389x211072211
Abstract: Shape memory alloy (SMA)-based seismic isolation systems can successfully reduce the peak and residual displacements of bridges during strong earthquake, but they commonly lead to an increased force demands in substructure. This study explores the… read more here.
Keywords: based negative; sma cable; cable based; negative stiffness ... See more keywords
Seismic damage mitigation of bridges with self-adaptive SMA-cable-based bearings
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DOI: 10.12989/sss.2019.24.1.127
Abstract: Residual drifts after an earthquake can incur huge repair costs and might need to replace the infrastructure because of its non-reparability. Proper functioning of bridges is also essential in the aftermath of an earthquake. In… read more here.
Keywords: sma cable; self adaptive; sma; cable based ... See more keywords
Damping characteristics of cable-based dampers and hydraulic bearings
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DOI: 10.3103/s1068798x17020071
Abstract: The spectral characteristics of hydraulic bearings and cable-based dampers are presented. In hydraulic bearings, the energy is absorbed by a rheological medium; in cable-based vibrational dampers, by contrast, the energy is absorbed by the dry… read more here.
Keywords: cable based; characteristics cable; hydraulic bearings; cable ... See more keywords