Dmitri Fedorov et Lionel Birglen
Article de revue (2018)
Document en libre accès dans PolyPublie |
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Abstract
In this paper, we introduce a mechanism consisting of a pair of noncircular pulleys with a constant-length cable. While a single noncircular pulley is generally limited to continuously winding or unwinding, the differential cable routing proposed here allows to generate non-monotonic motions at the output of the arrangement, i.e. the location of the idler pulley redirecting the cable. The equations relating its motion to rotation angles of the noncircular pulleys and to the cable length are presented in the first part of this paper. Next, we introduce a graphical method allowing us to obtain the required pulley profiles for a given output function. Our approach is finally demonstrated with two application examples: the guiding of a cable-suspended robot along a complex trajectory using a single actuator, and the static balancing of a pendulum with a 360 degree rotational range of motion.
Sujet(s): | 2100 Génie mécanique > 2100 Génie mécanique |
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Département: | Département de génie mécanique |
Organismes subventionnaires: | CRSNG/NSERC |
Numéro de subvention: | RGPIN327005 |
URL de PolyPublie: | https://publications.polymtl.ca/3544/ |
Titre de la revue: | Journal of Mechanisms and Robotics (vol. 10, no 6) |
Maison d'édition: | ASME |
DOI: | 10.1115/1.4041213 |
URL officielle: | https://doi.org/10.1115/1.4041213 |
Date du dépôt: | 25 sept. 2018 14:30 |
Dernière modification: | 05 avr. 2024 12:22 |
Citer en APA 7: | Fedorov, D., & Birglen, L. (2018). Differential noncircular pulleys for cable robots and static balancing. Journal of Mechanisms and Robotics, 10(6), 1-8. https://doi.org/10.1115/1.4041213 |
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