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Differential noncircular pulleys for cable robots and static balancing

Dmitri Fedorov and Lionel Birglen

Article (2018)

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Cite this document: Fedorov, D. & Birglen, L. (2018). Differential noncircular pulleys for cable robots and static balancing. Journal of Mechanisms and Robotics, 10(6), p. 1-8. doi:10.1115/1.4041213
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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.

Open Access document in PolyPublie
Subjects: 2100 Génie mécanique > 2100 Génie mécanique
Department: Département de génie mécanique
Research Center: Non applicable
Grant number: RGPIN327005
Date Deposited: 25 Sep 2018 14:30
Last Modified: 07 Sep 2019 01:15
PolyPublie URL: https://publications.polymtl.ca/3544/
Document issued by the official publisher
Journal Title: Journal of Mechanisms and Robotics (vol. 10, no. 6)
Publisher: ASME
Official URL: https://doi.org/10.1115/1.4041213


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