Available acceleration set for the study of motion capabilities for cable-driven robots
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- 作者：Jonathan Edena ; jpeden@student.unimelb.edu.au" class="auth_mail" title="E-mail the corresponding author ; Darwin Laub ; darwinlau@mae.cuhk.edu.hk" class="auth_mail" title="E-mail the corresponding author ; Ying Tana ; yingt@unimelb.edu.au" class="auth_mail" title="E-mail the corresponding author ; Denny Oetomoa ; doetomo@unimelb.edu.au" class="auth_mail" title="E-mail the corresponding author
- 关键词：Cable-driven robots ; Motion generation analysis ; Static workspace
- 刊名：Mechanism and Machine Theory
- 出版年：2016
- 出版时间：November 2016
- 年：2016
- 卷：105
- 期：Complete
- 页码：320-336
- 全文大小：2064 K
文摘
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Acceleration set analysis for motion generation capability of CDPRs is considered.
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New metrics proposed: acceleration capability measure and maximum controllable speed.
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It is proven that the static workspace can be used for motion generation.
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The results show the metric's application to CDPR motion generation capability.