TY - GEN
T1 - Tension research of a cable-driven biomimetic shoulder robot
AU - Chen, Weihai
AU - Yang, Yi
AU - Wu, Xingming
AU - Chen, Quanzhu
PY - 2010
Y1 - 2010
N2 - In cable-driven 3-DOF (Degree of Freedom) robot, cable is only to be stretched but not compressed. It is significant to research the cable tension. It is easy to analyze assignment situation of cable tension by geometry. Tension coefficient is proposed as the appraisal for tension assignment. With tension coefficient distribution map, it has a direct-viewing understanding of tension workspace, then the effective tension assignment optimization algorithm is proposed; After discussion, it will obtain the smallest real-time computation preload force formula, thus it will guarantee that the cable tension is at tightens in every condition; Finally, with the prototype's strength examination system the tension feedback experiment is taken, which will confirm above theory.
AB - In cable-driven 3-DOF (Degree of Freedom) robot, cable is only to be stretched but not compressed. It is significant to research the cable tension. It is easy to analyze assignment situation of cable tension by geometry. Tension coefficient is proposed as the appraisal for tension assignment. With tension coefficient distribution map, it has a direct-viewing understanding of tension workspace, then the effective tension assignment optimization algorithm is proposed; After discussion, it will obtain the smallest real-time computation preload force formula, thus it will guarantee that the cable tension is at tightens in every condition; Finally, with the prototype's strength examination system the tension feedback experiment is taken, which will confirm above theory.
UR - https://www.scopus.com/pages/publications/79952975176
U2 - 10.1109/ROBIO.2010.5723517
DO - 10.1109/ROBIO.2010.5723517
M3 - 会议稿件
AN - SCOPUS:79952975176
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 1305
EP - 1309
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -