Use of passively guided deflection units and energy-storing elements to increase the application range of wire robots

Mechanisms and Machine Science

Volumn 12, Issue , 2013, Pages 167-184

  von Zitzewitz, Joachim ^a,b   Fehlberg, Lisa ^c   Bruckmann, Tobias ^c   Vallery, Heike ^a,d  

^a EPFL   (Switzerland)

^b ETH ZURICH   (Switzerland)

^c UNIVERSITY OF DUISBURG ESSEN   (Germany)

^d KHALIFA UNIVERSITY   (United Arab Emirates)

Author keywords

[No Author keywords available]

Indexed keywords

ENERGY EFFICIENCY; ENERGY UTILIZATION; ROBOTS; WIRE;

ACTIVE COMPONENTS; APPLICATION RANGE; DYNAMIC MOTIONS; KINEMATICS AND DYNAMICS; LOAD CAPABILITY; PASSIVE ELEMENTS; PRACTICAL REQUIREMENTS; WORKSPACE ANALYSIS;

DEFLECTION (STRUCTURES);

EID: 84920278379     PISSN: 22110984     EISSN: 22110992     Source Type: Book Series    
DOI: 10.1007/978-3-642-31988-4_11     Document Type: Chapter

References (17)

1. Merlet, J.-P.: Marionet, a family of modular wire-driven parallel robots. In: Lenarcic, J., Stanisic, M.M. (eds.) Advances in Robot Kinematics: Motionin Man and Machine, pp. 53-61. Springer, Netherlands (2010)
2. von Zitzewitz, J., Rauter, G., Steiner, R., Brunschweiler, A., Riener, R.: A versatile wire robot concept as a haptic interface for sport simulation. In: Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA), pp. 313-318. Kobe, Japan, 12-17 May 2009.
3. Fang, S.: Design, modeling and motion control of tendon-based parallel manipulators. VDI Fortschritts-Bericht, 2005.
4. Faschinger, F., von Zitzewitz, J., Pernkopf, F.: Ein paralleler, 8-achsiger Seilroboter mit grossem Arbeitsraum als Handlingapplikation. In: Proceedings of Internationales Forum Mechatronik, pp. 218-228. Linz, Austria, 2006.
5. Pott, A., Meyer, C., Verl, A.: Large-scale assembly of solar power plants with parallel cable robots. Robotics (ISR). In: 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), pp. 1-6, June 2010.
6. Bruckmann, T., Mikelsons, M., Brandt, T., Hiller, M., Schramm, D.: Wire Robots Part I + II Kinematics, Analysis and Design-Dynamics. Control and Application. I-Tech Education and Publishing, Vienna (2008)
7. Mayhew, D. Bachrach, B., Rymer, W.Z., Beer, R.F.: Development of the Macarm-a novel cable robot for upper limb neurorehabilitation. In: Proceedings of the 9th International Conference on Rehabilitation Robotics (ICORR), pp. 299-302, June, July 2005.
8. von Zitzewitz, J., Rauter, G., Vallery, H., Morger, A., Riener, R.: Forward kinematics of redundantly actuated, tendon-based robots. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2289-2294, 2010.
9. Maeda, K., Tadokoro, S., Takamori, T., Hiller, M., Verhoeven, R.: On design of a redundant wire-driven parallel robot warp manipulator. In: Proceedings fo the 1999 IEEE International Conference on Robotics and Automation, vol. 2, pp. 895-900, 1999.
10. Bruckmann, T. Sturm, C., Wildan, L.: Wire robot suspension systems for wind tunnels, wind tunnels and experimental fluid dynamics research, Dr. Jorge Colman Lerner and Dr. Ulfilas Boldes (ed.), ISBN: 978-953-307-623-2, InTech. http://www.intechopen.com/articles/show/ title/wire-robot- suspension- systems-for-wind-tunnels (2011)
11. Kawamura, S., Ida, M., Wada, T.: Development of a virtual sports machine using a wire drive system-a trial of virtual tennis. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 111-116. Pittsburgh, 1995.
12. Verhoeven, R.: Analysis of the workspace of tendon-based Stewart platforms. Ph.D. Thesis, Duett, Universittsbibliothek Duisburg, 2004.
13. Lawrence, D.A., Pao, L.Y., Aphanuphong, S.: Bow spring/tendon actuation for low cost haptic interfaces. In: First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 157-166, March 2005.
14. von Zitzewitz, J., Wolf, P., Novakovic, V., Wellner, M., Rauter, G., Brunschweiler, A., Riener, R.: A real-time rowing simulator with multi-modal feedback. Sports Technol. 1(6), 257-266 (2009)
15. Omlin, X., von Zitzewitz, J., Rauter, G., Morger, A., Achermann, P., Riener, R.: Robotic platform to investigate the effects of vestibular stimulation on sleep. In: 19. Jahrestagung der Deutschen Gesellschaft fr Schlafforschung und Schlafmedizin (DGSM), 2011.
16. Vallery, H., Duschau-Wicke, A., Riener, R.: Hiding robot inertia using resonance. In: Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE, pp. 1271-1274, 31 Sept 4 2010.
17. Uemura, M., Kawamura, S.: Resonance-based motion control method for multi-joint robot through combining stiffness adaptation and iterative learning control. In: IEEE International Conference on Robotics and Automation, ICRA’09, pp. 1543-1548, May 2009.