In this paper, we analyze a spatial 3-degree-of-freedom cable-driven robot with a point-mass end-effector suspended by 3 cables. The kinematic and dynamic behaviour of this robot was investigated in previous works, in particular, the possibility of taking advantage of inertia forces on the end-effector to enlarge the robot workspace. Here, we propose to use this highly dynamic robot as a robotic sling, in order to perform throwing operations: the end-effector uses a gripper to carry an object, and the gripper opens at a suitable instant in order to launch the object towards a given target point. The mathematical model and results from numerical simulations are presented.

Dynamically-Feasible Trajectories for a Cable-Suspended Robot Performing Throwing Operations

Mottola G.;Carricato M.
;
Li Q.
2021

Abstract

In this paper, we analyze a spatial 3-degree-of-freedom cable-driven robot with a point-mass end-effector suspended by 3 cables. The kinematic and dynamic behaviour of this robot was investigated in previous works, in particular, the possibility of taking advantage of inertia forces on the end-effector to enlarge the robot workspace. Here, we propose to use this highly dynamic robot as a robotic sling, in order to perform throwing operations: the end-effector uses a gripper to carry an object, and the gripper opens at a suitable instant in order to launch the object towards a given target point. The mathematical model and results from numerical simulations are presented.
ROMANSY 23 - Robot Design, Dynamics and Control, Proceedings of the 23rd CISM IFToMM Symposium
547
555
Lin D.; Mottola G.; Carricato M.; Jiang X.; Li Q.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/776060
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