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Type of Document Master's Thesis Author Yin, Xiaolei Author's Email Address huajin_yin@hotmail.com URN etd-04162004-113247 Title Study of Effect of Cable Yielding in Cable-Driven Robotic System Degree Master of Science in Mechanical Engineering Department Aerospace and Mechanical Engineering Advisory Committee
Advisor Name Title Alan Bowling Committee Chair Edmundo Corona Committee Member Michael M. Stanisic Committee Member Keywords
- hypersurface
- dynamics
- yield
- cable
Date of Defense 2004-04-07 Availability mixed Abstract A methodology was developed herein to characterize the performance limitationsimposed by the yielding of the cables in a planar robotic mechanism with a
cable-driven transmission. The planar robotic mechanism was first presented and
the kinematic coupling between links due to the cable-drives was investigated.
This method involved a model of the cable tensions based on a rigid-body model
of the system, where the tensions are considered as reaction forces. The model
allowed for analysis of the tensions in a manner similar to that of a recently
developed characterization called the Dynamic Capability Hypersurface. In effect
the limitations on dynamic performance caused by cable yielding were added to the
limitations caused by the bounds on actuator torque capacity, in order to give a
more comprehensive description of the capabilities of the cable-driven system.
A two degree-of-freedom mechanism was analyzed in order to illustrate the methodology.
The effect of pulley radius was also studied.
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