| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 413668 | Robotics and Computer-Integrated Manufacturing | 2016 | 8 Pages |
•A cable-driven device is proposed as an auxiliary device for an industrial robot.•Statics and kinematics of the device are addressed.•The device makes the static performance of the robot more isotropic.•An example of its application to a highly anisotropic robot is shown.
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.
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