A kinetostatic analysis of cabledriven parallel robots considering both cable mass and output pulleys is presented. The proposed modeling methodology and kinetostatic analysis can be further expanded to other pkms with necessary modifications, providing useful information for kinematic calibration as well as component strength calculations. Kinetostatic analysis of cabledriven parallel robots with. Kinetostatic analysis of a roller drive sciencedirect. Download citation kinetostatic analysis of a roller drive a roller drive has a topological structure similar to an epicyclic gearing, where both the planet gear and the ring gear have rollers. Job safety analysis jsas listed by topic environment. To gain a thorough understanding of the impact of the overconstraints on system stiffness, the kinetostatic method is used for stiffness analysis.
In contrast to shimming, the milling method is highly automated, and the main cost driver is the high capital cost of scanning as well as milling equipment. Finally, conclusions are developed and future work is proposed. This chapter focuses on the output pulleys from which the cables extend to the robot mobile platform. Kinetostatic modelbased stiffness analysis of exechon pkm article in robotics and computerintegrated manufacturing 37 may 2015 with 264 reads how we measure reads. The span connects the sprockets such that they rotate in the same direction, and the sprocket size, number of teeth, and shaft center distance can be arbitrary. Each curve in the plot corresponds to change the value of one of the parameters from the set value in the equal condition while the other parameters are kept fixed. In this paper, the kinematic model based on the vector loop approach is developed, and models for analyzing the kinetostatics and mechanical efficiency of roller drives considering friction are. Kinetostatic analysis of a roller drive researchgate. Tripod and ball joint automotive transmission kinetostatic. Kinetostatic optimization for an adjustable fourbar based articulated legwheel subsystem conference paper september 2014 with 68 reads how we measure reads. Based on spatial cartesian kinematics and vector method, a novel method for kinematic analysis of the double roller tripod joint is proposed.
Analytical method for the kinetostatic analysis of the. The present paper deals with kinetostatic friction models of an automotive transmission consisting of an inboard tripod joint close to the wheel and an outboard ball joint close to. The proposed methodology is applied to the kinetostatic modeling of the secondclass firsttype assur group. An exact and approximate kinematic analysis of a roller chain drive modeled as a fourbar mechanism is presented. Rolling definition, the action, motion, or sound of anything that rolls. A fourbar mechanism formed by a driving rotational mechanism and a secondclass firsttype assur group is used as a case study of the modular kinetostatic analysis. Kinetostaticmodelbased stiffness analysis of exechon pkm. Kinetostatic modeling of exechon parallel kinematic. Kinematics of roller chain drives exact and approximate.