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A cable-suspended robot with a novel cable based end effector

Saber, O ; Sharif University of Technology | 2010

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  1. Type of Document: Article
  2. DOI: 10.1115/ESDA2010-25312
  3. Publisher: 2010
  4. Abstract:
  5. Object handling is one of the most important applications of cable-suspended robots, which can be obtained by use of a gripper as its end-effector. In this paper, a novel cable-driven multi-finger gripper assembled on a cable-suspended robot has been presented. Using lock/unlock mechanisms, the under-actuated finger mechanism has been designed to have a human like motion. A cable-suspended robot structure with 3 position degrees of freedom is also proposed by employing active/passive cables in such a way that makes it capable of resisting external moments, while it may be simplified to a spatial point-mass cable robot during positioning operation. Furthermore, the robot workspace has been investigated and by considering both lower and upper cable tension limits, a formulation for obtaining the force-feasible workspace is presented and the influence of the minimum tension limit on the workspace is discussed. Finally the moment-resisting capability of the proposed robot has been investigated and by considering several cases, its moment-resisting region is compared to an analogous robot
  6. Keywords:
  7. Cable-driven finger ; Cable-suspended robot ; Active/passive structure ; Cable suspended robot ; Cable-driven ; Object handling ; Workspace ; End effectors ; Grippers ; Machine design ; Systems analysis ; Cables
  8. Source: ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010 ; Volume 3 , July , 2010 , Pages 799-808 ; 9780791849170 (ISBN)
  9. URL: http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1618252