کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5018926 | 1467728 | 2017 | 12 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper presents two control strategies for that purpose to transform a cable-driven tensegrity mechanism into a variable stiffness device. The mechanism is a planar tensegrity mechanism allowing us to control an angular position and the associated stiffness. Relying on the properties of the mechanism models, the proposed control strategies allow a modulation of the stiffness or of its first time derivative. The interest of both propositions is outlined and an experimental investigation of their characteristics is performed. Encouraging results are obtained in terms of reconfiguration capabilities and stiffness variation.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 107, January 2017, Pages 1-12
Journal: Mechanism and Machine Theory - Volume 107, January 2017, Pages 1-12
نویسندگان
Quentin Boehler, Salih Abdelaziz, Marc Vedrines, Philippe Poignet, Pierre Renaud,