Abstract A cable-driven module with passive spherical joint is proposed as a fundamental building block for modular cable-driven manipulators to produce compliant and intrinsically safe motions, which are suitable for the human–robot co-existing applications. Stiffness measurement is an important issue for the cable-driven manipulators. In this work, a generic measurement method for the cable-driven modules and manipulators is proposed. The proposed method does not require to measure cable tensions, making it be easier to implement than the model-based method. The effectiveness of the proposed method is validated by a comprehensive simulation.


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    Titel :

    A Generic Stiffness Measurement Method for a 3-DOF Cable-Driven Joint Module


    Beteiligte:
    Yang, Kaisheng (Autor:in) / Yang, Guilin (Autor:in) / Chen, Silu (Autor:in) / Fang, Zaojun (Autor:in) / Wang, Yi (Autor:in) / Gu, Lefeng (Autor:in) / Zheng, Tianjiang (Autor:in)


    Erscheinungsdatum :

    02.10.2019


    Format / Umfang :

    7 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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