Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
1698602 | Procedia CIRP | 2016 | 6 Pages |
Abstract
The article focuses on methods for designing modular cable-driven orientation mechanisms that can be attached to robot systems that lack on rotational degrees of freedom. The approach yields assembly systems for high speed handling applications by reducing moving masses. For this purpose, a classification of feasible kinematic structures are given and resulting characteristics, like the orientation workspace, dexterity or its homogeneity, are analyzed. The mechanical design of a first prototype is subsequently presented along with a universal simulation tool for determining task-adapted powertrains using cables. Finally, results of first tests and possibilities for future developments are presented.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Industrial and Manufacturing Engineering
Authors
Daniel Krebs, Gunnar Borchert, Annika Raatz,