Latest Papers

ASME Journal of Mechanisms and Robotics

  • Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
    on September 14, 2022 at 12:00 am

    AbstractThis article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton–Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is based on Gauss’s Principle of Least Constraint (GPLC) and includes arbitrary equality constraints. In addition to showing the connections of GPLC with Gibbs–Appell and Kane’s equations, we use it to model a nonholonomic mobile manipulator. Our current formulations are more general than their counterparts in the state of the art, although GPLC is more computationally expensive, and simulation results show that they are as accurate as the classic recursive Newton–Euler algorithm.

Cable Behavior Influence on Cable-Driven Parallel Robots Vibrations: Experimental Characterization and Simulation

Abstract

In this paper, the influence of cable behavior on cable-driven parallel robot (CDPR) is studied. This study is conducted with the goal of designing a medium size CDPR for additive manufacturing. This robot needs to have a high level of rigidity to guarantee a given tracking tool path error. First, the characterization of different thin cables (steel, Dyneema®, aramid) is presented. The mechanical properties of these cables, in terms of stiffness, damping, hysteresis, and creep are compared with regard to additive manufacturing applications. A stiffness model, which takes into account the cable preload, and a dynamic model of CDPR are proposed. The simulations of these two models are compared with experimental results obtained for the range of cables studied using dynamic stiffness analysis on an 8-cable fully constrained CDPR. This paper concludes on the type of cable that should be chosen for our application.
Read More
Journal of Mechanisms and Robotics Open Issues

Generated by Feedzy