Abstract
The paper deals with details of development of cable actuated version of spherical mechanism HexaSphere, a redundantly actuated mechanism with parallel kinematic structure. The cables can only transfer tension forces, stress load of the cables would make the mechanism collapse. That can be achieved by anti-backlash control principle. Anti-backlash area of mechanism HexaSphere is mapped first. Secondly actuation forces required for given trajectory and robot’s dynamics are computed and minimised by dimension optimisation.
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References
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© 2010 Springer-Verlag Berlin Heidelberg
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Valášek, M., Karásek, M. (2010). HexaSphere with Cable Actuation. In: Brezina, T., Jablonski, R. (eds) Recent Advances in Mechatronics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-05022-0_41
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DOI: https://doi.org/10.1007/978-3-642-05022-0_41
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-05021-3
Online ISBN: 978-3-642-05022-0
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