The paper deals with the kinetostatic characterization of a knee loading test-rig with cable-driven parallel mechanism architecture. The system is supposed to work close to a nominal pose where it shows a partially-decoupled behavior. The scope of the study is the determination of the maximum deviations between the wrench components at the nominal and actual platform pose for a generic loading condition. Moreover, the peculiar cable-based actuation system leads to non-linearity issues: a specific procedure is then presented to perform the kinetostatic analysis and to handle such non-linearities.
Kinetostatic characterization of a loading system based on a partially-decoupled parallel manipulator / Giulio Spagnuolo, Nicola Sancisi, Rocco Vertechy, Vincenzo Parenti-Castelli. - STAMPA. - 8:(2019), pp. 419-427. [10.1007/978-3-319-93188-3_48]
Kinetostatic characterization of a loading system based on a partially-decoupled parallel manipulator
Nicola Sancisi;Rocco Vertechy;Vincenzo Parenti-Castelli
2019
Abstract
The paper deals with the kinetostatic characterization of a knee loading test-rig with cable-driven parallel mechanism architecture. The system is supposed to work close to a nominal pose where it shows a partially-decoupled behavior. The scope of the study is the determination of the maximum deviations between the wrench components at the nominal and actual platform pose for a generic loading condition. Moreover, the peculiar cable-based actuation system leads to non-linearity issues: a specific procedure is then presented to perform the kinetostatic analysis and to handle such non-linearities.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
