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Mechanisms and Machine Science, 2021
Inverse kinematic problem of a cable-driven parallel robot (CDPR) is a straightforward problem for massless inextensible cables. However, the problem becomes a non-linear kineto-static problem with the consideration of cable mass and elasticity. This problem is conventionally solved using numerical methods.
Ishan Chawla +2 more
exaly +2 more sources
Inverse kinematic problem of a cable-driven parallel robot (CDPR) is a straightforward problem for massless inextensible cables. However, the problem becomes a non-linear kineto-static problem with the consideration of cable mass and elasticity. This problem is conventionally solved using numerical methods.
Ishan Chawla +2 more
exaly +2 more sources
A Vector Bond Graph Method of Kineto-Static Analysis for Spatial Multibody Systems
Applied Mechanics and Materials, 2013In order to increase the reliability and efficiency of the kineto-static analysis of complex multibody systems, the corresponding vector bond graph procedure is proposed. By the kinematic constraint condition, spatial multibody systems can be modeled by vector bond graph.
Zhong Shuang Wang +2 more
exaly +2 more sources
Kineto-static analysis of a novel high-speed parallel manipulator with rigid-flexible coupled links
Journal of Central South University, 2011A novel high-speed parallel kinematic machine (PKM) named Delta-S parallel manipulator is proposed, which consists of a fixed base connected to a moving platform through three limbs with identical topology. Each limb is composed of one driving arm and one follower arm, herein, the latter includes two strings and one middle rod, all located in a same ...
Tao Sun, Kai Yan
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Kineto-static analysis of cooperative robot manipulators achieving dexterous configurations
2005Adopting a system of cooperative manipulators is believed to offer enhanced performance in robotic applications. The use of multiple arms becomes necessary for the execution of all those tasks that go beyond the capabilities of a single arm, e.g. manipulation of large, heavy or non-rigid objects.
Pasquale Chiacchio +2 more
exaly +3 more sources
A nonlinear finite-element approach for kineto-static analysis of multibody systems
Nonlinear Dynamics, 1995Methods that treat rigid/flexible multibody systems undergoing large motion as well as deformations are often accompanied with inefficiencies and instabilities in the numerical solution due to the large number of state variables, differences in the magnitudes of the rigid and flexible body coordinates, and the time dependencies of the mass and ...
Deren Ma, Hamid M. Lankarani
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A nonlinear finite element approach to kineto-static analysis of elastic beams
Mechanism and Machine Theory, 1996Recently the demand for higher speed in design of mechanical systems has led to an intensive research in the formulation of the elastic mechanisms. In this study it is shown that the kineto-static solution is close to full dynamic solution for typical dimensions of the links.
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