Object handling is one of the most important applications of cable-suspended robots, which can be obtained by use of a gripper as its end-effector. In this paper, a novel cable-driven multi-finger gripper assembled on a cable-suspended robot has been presented. Using lock/unlock mechanisms, the under-actuated finger mechanism has been designed to have a human like motion. A cable-suspended robot structure with 3 position degrees of freedom is also proposed by employing active/passive cables in such a way that makes it capable of resisting external moments, while it may be simplified to a spatial point-mass cable robot during positioning operation. Furthermore, the robot workspace has been investigated and by considering both lower and upper cable tension limits, a formulation for obtaining the force-feasible workspace is presented and the influence of the minimum tension limit on the workspace is discussed. Finally the moment-resisting capability of the proposed robot has been investigated and by considering several cases, its moment-resisting region is compared to an analogous robot.
A Cable-Suspended Robot With a Novel Cable Based End Effector
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Saber, O, Abyaneh, S, & Zohoor, H. "A Cable-Suspended Robot With a Novel Cable Based End Effector." Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis. ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3. Istanbul, Turkey. July 12–14, 2010. pp. 799-808. ASME. https://doi.org/10.1115/ESDA2010-25312
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