柔性电缆驱动并联机器人的主动阻尼研究

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI:10.1109/ICRA.2019.8794061

Hugo Sellet, Imane Khayour, L. Cuvillon, S. Durand, J. Gangloff

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引用次数: 10

摘要

这项工作是一项初步研究，评估使用冷气体推力器对柔性索驱动并联机器人进行主动阻尼的可行性。该概念在一个平面机器人上进行了实验验证，该机器人嵌入了在工业标准压力水平下运行的定制超音速空气推进器。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Active Damping of Parallel Robots Driven by Flexible Cables Using Cold-Gas Thrusters

This work is a preliminary study assessing the feasibility of using cold-gas thrusters for active damping of flexible cable-driven parallel robots. The concept is validated experimentally on a planar robot embedding custom-built supersonic air thrusters operating at an industry-standard pressure level.

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2019 International Conference on Robotics and Automation (ICRA)

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