FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3046983221> ?p ?o ?g. }

• W3046983221 endingPage "942" @default.
• W3046983221 startingPage "930" @default.
• W3046983221 abstract "With a light-slender and superior dexterous body, the cable-driven segmented redundant manipulators (CSRMs) are excellent candidates for operations in narrow confined space. However, their application is still largely limited due to their weak stiffness, low load capacity, and complex modeling and planning. In this article, we design a new type of CSRM with high stiffness and load capacity using hybrid active and passive cables, and propose a simplified kinematics modeling and configuration planning method. The manipulator is composed of three active-linkage segments and one active tool end-effector. Each active segment, driven by three active driving cables, has two degrees of freedom (DOFs). By utilizing the passive linkage cables, the segment can be fully constrained with high stiffness, and move with equal joint angles in nearly continuous shape. Based on such structural features, the kinematics equations about the active segment-joint variables (i.e., the equalpitch and yaw angles of the whole segment) are derived. The direct, inverse kinematics and differential kinematics are greatly simplified. To find suitable solutions under environment constraints, extended virtual joint (EVJ) is introduced for quick regional solutions searching and equivalent kinematic constraint analysis. Furthermore, a configuration planning method based on the simplified kinematics and equivalent EVJs is proposed for single obstacle avoidance and continuous narrow space crossing tasks. Finally, a prototype system is developed and typical experiments are performed. The results show the high linkage accuracy, improved stiffness, and load capacity of the developed CSRM and verify the adaptability of the proposed configuration planning method." @default.
• W3046983221 created "2020-08-10" @default.
• W3046983221 creator A5027712402 @default.
• W3046983221 creator A5035195155 @default.
• W3046983221 creator A5082586634 @default.
• W3046983221 creator A5091159493 @default.
• W3046983221 date "2021-04-01" @default.
• W3046983221 modified "2023-10-02" @default.
• W3046983221 title "A Hybrid Active and Passive Cable-Driven Segmented Redundant Manipulator: Design, Kinematics, and Planning" @default.
• W3046983221 cites W1836215632 @default.
• W3046983221 cites W1970557511 @default.
• W3046983221 cites W2063797945 @default.
• W3046983221 cites W2064043586 @default.
• W3046983221 cites W2064267416 @default.
• W3046983221 cites W2075412946 @default.
• W3046983221 cites W2101667962 @default.
• W3046983221 cites W2101797976 @default.
• W3046983221 cites W2103819010 @default.
• W3046983221 cites W2112075057 @default.
• W3046983221 cites W2121744551 @default.
• W3046983221 cites W2137670317 @default.
• W3046983221 cites W2140516362 @default.
• W3046983221 cites W2158021637 @default.
• W3046983221 cites W2170836916 @default.
• W3046983221 cites W2184993170 @default.
• W3046983221 cites W2412166587 @default.
• W3046983221 cites W2488329990 @default.
• W3046983221 cites W2794117740 @default.
• W3046983221 cites W2806185962 @default.
• W3046983221 cites W2903348871 @default.
• W3046983221 cites W2910992055 @default.
• W3046983221 cites W2912068320 @default.
• W3046983221 cites W2955146521 @default.
• W3046983221 cites W3013929861 @default.
• W3046983221 cites W2197489321 @default.
• W3046983221 doi "https://doi.org/10.1109/tmech.2020.3013658" @default.
• W3046983221 hasPublicationYear "2021" @default.
• W3046983221 type Work @default.
• W3046983221 sameAs 3046983221 @default.
• W3046983221 citedByCount "30" @default.
• W3046983221 countsByYear W30469832212021 @default.
• W3046983221 countsByYear W30469832212022 @default.
• W3046983221 countsByYear W30469832212023 @default.
• W3046983221 crossrefType "journal-article" @default.
• W3046983221 hasAuthorship W3046983221A5027712402 @default.
• W3046983221 hasAuthorship W3046983221A5035195155 @default.
• W3046983221 hasAuthorship W3046983221A5082586634 @default.
• W3046983221 hasAuthorship W3046983221A5091159493 @default.
• W3046983221 hasConcept C104317684 @default.
• W3046983221 hasConcept C121332964 @default.
• W3046983221 hasConcept C127413603 @default.
• W3046983221 hasConcept C154945302 @default.
• W3046983221 hasConcept C17816587 @default.
• W3046983221 hasConcept C185592680 @default.
• W3046983221 hasConcept C2775924081 @default.
• W3046983221 hasConcept C2776036281 @default.
• W3046983221 hasConcept C2779372316 @default.
• W3046983221 hasConcept C31266012 @default.
• W3046983221 hasConcept C39920418 @default.
• W3046983221 hasConcept C41008148 @default.
• W3046983221 hasConcept C47446073 @default.
• W3046983221 hasConcept C55493867 @default.
• W3046983221 hasConcept C66938386 @default.
• W3046983221 hasConcept C74650414 @default.
• W3046983221 hasConcept C78519656 @default.
• W3046983221 hasConceptScore W3046983221C104317684 @default.
• W3046983221 hasConceptScore W3046983221C121332964 @default.
• W3046983221 hasConceptScore W3046983221C127413603 @default.
• W3046983221 hasConceptScore W3046983221C154945302 @default.
• W3046983221 hasConceptScore W3046983221C17816587 @default.
• W3046983221 hasConceptScore W3046983221C185592680 @default.
• W3046983221 hasConceptScore W3046983221C2775924081 @default.
• W3046983221 hasConceptScore W3046983221C2776036281 @default.
• W3046983221 hasConceptScore W3046983221C2779372316 @default.
• W3046983221 hasConceptScore W3046983221C31266012 @default.
• W3046983221 hasConceptScore W3046983221C39920418 @default.
• W3046983221 hasConceptScore W3046983221C41008148 @default.
• W3046983221 hasConceptScore W3046983221C47446073 @default.
• W3046983221 hasConceptScore W3046983221C55493867 @default.
• W3046983221 hasConceptScore W3046983221C66938386 @default.
• W3046983221 hasConceptScore W3046983221C74650414 @default.
• W3046983221 hasConceptScore W3046983221C78519656 @default.
• W3046983221 hasFunder F4320336405 @default.
• W3046983221 hasIssue "2" @default.
• W3046983221 hasLocation W30469832211 @default.
• W3046983221 hasOpenAccess W3046983221 @default.
• W3046983221 hasPrimaryLocation W30469832211 @default.
• W3046983221 hasRelatedWork W1553380169 @default.
• W3046983221 hasRelatedWork W2046936842 @default.
• W3046983221 hasRelatedWork W2110522099 @default.
• W3046983221 hasRelatedWork W2136233762 @default.
• W3046983221 hasRelatedWork W2174347400 @default.
• W3046983221 hasRelatedWork W2741092574 @default.
• W3046983221 hasRelatedWork W2808797274 @default.
• W3046983221 hasRelatedWork W4242228423 @default.
• W3046983221 hasRelatedWork W4287182365 @default.
• W3046983221 hasRelatedWork W2103120344 @default.
• W3046983221 hasVolume "26" @default.

• next