Every industrial robot has a specific kinematics, which often results in anisotropic performance within its workspace in terms of force and velocity. A cable-driven system can be used to improve the force manipulability of a robot by introducing an actuation redundancy. Such system acts directly on the robot end-effector increasing its flexibility of use in applications where a higher and more uniform force performance is required. This work is focused on high-thrust operations, for example robotic friction stir welding or incremental forming, realized by means of a highly anisotropic industrial robot.
Static performance improvement of an industrial robot by means of a cable-driven redundantly actuated system / Palpacelli, MATTEO CLAUDIO. - In: ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING. - ISSN 0736-5845. - STAMPA. - 38:(2016), pp. 1-8. [10.1016/j.rcim.2015.09.003]
Static performance improvement of an industrial robot by means of a cable-driven redundantly actuated system
PALPACELLI, MATTEO CLAUDIO
2016-01-01
Abstract
Every industrial robot has a specific kinematics, which often results in anisotropic performance within its workspace in terms of force and velocity. A cable-driven system can be used to improve the force manipulability of a robot by introducing an actuation redundancy. Such system acts directly on the robot end-effector increasing its flexibility of use in applications where a higher and more uniform force performance is required. This work is focused on high-thrust operations, for example robotic friction stir welding or incremental forming, realized by means of a highly anisotropic industrial robot.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
