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General information |
| Author |
Zhang, Zhao |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
This paper focuses on the kinematics,
kinetostatics and design optimization of a 2‐DOF cabledriven
flexible joint module. Based on the motion
characteristics of the 2‐DOF joint module, the concept of
instantaneous screw axis in conjunction with the Product‐
Of‐Exponentials (POE) formula is proposed to formulate
its kinematic model. However, as the instantaneous screw
axis is unfixed, the Lie group method is employed to
derive the instantaneous kinematic model of the joint
module. In order to generate the feasible workspace
subject to positive tension constraint, the kinetostatics of
the joint module is addressed, where the stiffness
resulting from both the driving cables and the flexible
backbone are considered. A numerical orientation
workspace evaluation method is proposed based on an
equi‐volumetric partition in its parametric space and the
volume‐element associated integral factor. A global
singular value (GSV) index, which considers the
minimum singular value of the stiffness matrix of joint
module over the achievable workspace, is employed to
optimize the geometric size of joint module. The
simulation results demonstrate the effectiveness of the
proposed GSV optimization algorithm. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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