Preliminary Design and Testing of a Novel Robot Design for Metal Finishing Applications

Somes, S.D.; Dohring, Mark; Newman, Wyatt S.

doi:10.1109/robot.2005.1570618

Cited by 4 publications

(3 citation statements)

References 9 publications

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“…It is distinguished by its very low friction or excellent efficiency and accuracy of positioning, which are the basic requirements of actuators in haptics [6]. It is used in most of the better known haptic mechanisms, such as Phantoms [9], Da Vinci surgical robot [9], and many others [11,[36][37][38].…”

Section: Cable Drivesmentioning

confidence: 99%

Design and analysis of an fMRI compatible haptic robot

Rajh

Glode

Flašker

et al. 2011

Robotics and Computer-Integrated Manufacturing

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Section: Cable Drivesmentioning

confidence: 99%

Design and analysis of an fMRI compatible haptic robot

Rajh

Glode

Flašker

et al. 2011

Robotics and Computer-Integrated Manufacturing

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“…The model can be applied to the ETDM but this requires the solving of the cable-pulley transmission mechanism and the force transmission model. To improve the dynamical model, studies have investigated the mechanism of the cable-driven manipulator based on the friction of cables and pulleys using classical Euler equations (Yafei et al, 2011;Kong and Parker, 2005;Somes et al, 2005;Saglia et al, 2009). Lens et al discussed conditions for cable slack (T .…”

Section: Introductionmentioning

confidence: 99%

The effect of preload force on damping in tendon-driven manipulator

Yu-dong

Chen

2021

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Purpose The purpose of this paper is to study the preload range of tendon-driven manipulator and the relationship between preload and damping. The flexible joint manipulator (FJM) with joint flexibility is safer than traditional rigid manipulators. A FJM having an elastic tendon is called an elastic tendon-driven manipulator (ETDM) and has the advantages of being driven by a cable and having a more flexible joint. However, the elastic tendon introduces greater residual vibration, which makes the control of the manipulator more difficult. Accurate dynamic modeling is effective in solving this problem. Design/methodology/approach The present paper derives the relationship between the preload of the ETDM and the friction moment through the analysis of the forces of cables and pulleys. A dynamic model dominated by Coulomb damping is established. Findings The linear relationship between a decrease in the damping moment of the system and an increase in the ETDM preload is verified by mechanics analysis and experiment, and a curve of the relationship is obtained. This study provides a reference for the selection of ETDM preload. Originality/value The method to identify ETDM damping by vibration attenuation experiments is proposed, which is helpful to obtain a more accurate dynamic model of the system and to achieve accurate control and residual vibration suppression of ETDM.

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“…Significant advantages of precise cable drive include no lubrication, low friction, high stiffness, high efficiency and low cost. [1][2][3][4][5] The cable is usually wrapped around the input and output drum in a figure eight pattern for force equilibrium and higher transmission capability. 6,7 In precise cable drive system, torque is produced by the static friction between the cable and the input drum on the contact region, and transmitted to the output drum by the cable on the non-contact region.…”

Section: Introductionmentioning

confidence: 99%

Transmission backlash of precise cable drive system

Lü

Ding

2013

Proceedings of the Institution of Mechanical Engineers, Part C:

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Precise cable drive has been developed as an alternative transmission element to gears, belts and pulleys, chains and sprockets in electro-optical tracking system. The analytical method is developed to predict the transmission backlash of precise cable drive to enable designers to better assess the precision performance in the design study phase. Slip angle of precise cable drive is studied, and the effect of the rotational velocity and inertia of cable on the force equilibrium of contact region is considered. The deformation of cable in slip region and free region is calculated respectively and theoretical formulation of transmission backlash for precise cable drive system is carried out. Parametric sensitivity is investigated to evaluate the relationship between the transmission backlash and precise cable drive parameters including preload tension, load tension, friction coefficient, center distance and output drum radius. Experimental setup is built and the transmission backlash is tested. Effect of preload tension on the transmission backlash is tested. Results show that the experimental value and the theoretical curve of the transmission backlash fit well, which validates the theoretical method developed in this article.

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Preliminary Design and Testing of a Novel Robot Design for Metal Finishing Applications

Cited by 4 publications

References 9 publications

Design and analysis of an fMRI compatible haptic robot

Design and analysis of an fMRI compatible haptic robot

The effect of preload force on damping in tendon-driven manipulator

Transmission backlash of precise cable drive system

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