Working and Limitations of Cable Stiffening in Flexible Link Manipulators

Q2 Physics and Astronomy

Advances in Acoustics and Vibration Pub Date : 2016-08-16 DOI:10.1155/2016/4503696

Rahul Dixit, R. P. Kumar

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引用次数: 8

Abstract

Rigid link manipulators (RLMs) are used in industry to move and manipulate objects in their workspaces. Flexible link manipulators (FLMs), which are much lighter and hence highly flexible compared to RLMs, have been proposed in the past as means to reduce energy consumption and increase the speed of operation. Unlike RLM, an FLM has infinite degrees of freedom actuated by finite number of actuators. Due to high flexibility affecting the precision of operation, special control algorithms are required to make them usable. Recently, a method to stiffen FLMs using cables, without adding significant inertia or adversely affecting the advantages of FLMs, has been proposed as a possible solution in a preliminary work by the authors. An FLM stiffened using cables can use existing control algorithms designed for RLMs. In this paper we discuss in detail the working principle and limitations of cable stiffening for flexible link manipulators through simulations and experiments. A systematic way of deciding the location of cable attachments to the FLM is also presented. The main result of this paper is to show the advantage of adding a second pair of cables in reducing overall link deflections.

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柔性连杆机械臂缆索加强的工作及局限性

刚性链接机械手(rlm)在工业中用于在其工作空间中移动和操作对象。柔性连杆机械臂(FLMs)是一种更轻、更灵活的机械臂，过去已被提出作为降低能耗和提高操作速度的手段。与RLM不同，FLM具有无限自由度，由有限数量的作动器驱动。由于其灵活性高，影响操作精度，需要特殊的控制算法才能使其可用。最近，作者在一项初步工作中提出了一种使用缆索加强flm的方法，该方法不会增加明显的惯性或对flm的优点产生不利影响。使用缆索加固的FLM可以使用为rlm设计的现有控制算法。本文通过仿真和实验，详细讨论了柔性连杆机械臂钢索加筋的工作原理和局限性。本文还提出了一种系统的确定FLM电缆附件位置的方法。本文的主要结果是显示了增加第二对电缆在减少整体连接挠度方面的优势。

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Advances in Acoustics and Vibration ACOUSTICS-

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期刊介绍： The aim of Advances in Acoustics and Vibration is to act as a platform for dissemination of innovative and original research and development work in the area of acoustics and vibration. The target audience of the journal comprises both researchers and practitioners. Articles with innovative works of theoretical and/or experimental nature with research and/or application focus can be considered for publication in the journal. Articles submitted for publication in Advances in Acoustics and Vibration must neither have been published previously nor be under consideration elsewhere. Subject areas include (but are not limited to): Active, semi-active, passive and combined active-passive noise and vibration control Acoustic signal processing Aero-acoustics and aviation noise Architectural acoustics Audio acoustics, mechanisms of human hearing, musical acoustics Community and environmental acoustics and vibration Computational acoustics, numerical techniques Condition monitoring, health diagnostics, vibration testing, non-destructive testing Human response to sound and vibration, Occupational noise exposure and control Industrial, machinery, transportation noise and vibration Low, mid, and high frequency noise and vibration Materials for noise and vibration control Measurement and actuation techniques, sensors, actuators Modal analysis, statistical energy analysis, wavelet analysis, inverse methods Non-linear acoustics and vibration Sound and vibration sources, source localisation, sound propagation Underwater and ship acoustics Vibro-acoustics and shock.