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A Novel Design to Improve Pose Accuracy for Cable Robots
並列摘要
Cable robots are parallel manipulators in which rigid links are replaced by cables, while actuator and transmission systems are responsible for commanding the end-effector by rolling cables in and out by means of drums and changing cable direction by means of pulleys. Commonly developed kinetostatic models assume that the robot frame and end-effector are point-to-point connected. This assumption may induce non-negligible errors in the end-effector pose when performing pick and place operations or trajectory tracking. This paper deals with a new design for connecting the frame and end-effector to reduce any modeling inaccuracies due to the aforementioned assumption. Experimental tests are presented for a planar 4 cable robot.
被引用紀錄
Chen, C. T. (2003). 以液相磊晶法成長砷化鎵磊晶層之特性研究 [master's thesis, Chung Yuan Christian University]. Airiti Library. https://doi.org/10.6840/cycu200300318
洪麒荃（2014）。具酸鹼應答性之磷脂質共聚物作為藥物載體於光動力治療之應用〔碩士論文，國立中正大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0033-2110201614000819
延伸閱讀
- 伍祈穎（2016）。Implementation and Positioning for Multi-Degree-of-Freedom Cable Suspension Robot〔碩士論文，健行科技大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0022-2707201617242600
- 戴天祥（2020）。Robot Calibration using 3-D Optical Measurement Principle〔碩士論文，國立臺灣大學〕。華藝線上圖書館。https://doi.org/10.6342/NTU201902044
- Borchert, G., & Raatz, A. (2015). An Analysis Process to Improve the Mobility of a Parallel Robot for Assembly Tasks. Proceedings of the 14th IFToMM World Congress, (), 672-680. https://doi.org/10.6567/IFToMM.14TH.WC.OS3.029
- 黃啟尚（2013）。Design and Control for Modular Multi-Degree-of-Freedom Cable Suspension Robot〔碩士論文，健行科技大學〕。華藝線上圖書館。https://doi.org/10.6824/UCH.2013.00032
- Ko, W. Y. (2003). The design of a representation and analysis method for modular self-reconfigurable robots [master's thesis, The University of Hong Kong]. Airiti Library. https://www.airitilibrary.com/Article/Detail?DocID=U0029-1812201200003732