Matches in SemOpenAlex for { <https://semopenalex.org/work/W3187500093> ?p ?o ?g. }
- W3187500093 endingPage "761" @default.
- W3187500093 startingPage "750" @default.
- W3187500093 abstract "Counterbalancing mechanisms considerably reduce the size of actuators in serial robots. However, by limiting the joints' angles, imposing dead-point configurations, adding extra links, and attaching heavy/bulky balancing springs/counterweights, they sacrifice the dexterity of serial robots. Such limitations prevent serial robots from being implemented in significant robotic applications including biomedical robotic tasks. This paper proposes a novel cable-driven mechanism which addresses all of these limitations and simultaneously moves all actuators to the base. Via a kinematic and potential energy analysis, effectiveness of the proposed mechanism is proven. In order to experimentally evaluate the proposed approach, a fully-balanced four-link serial arm is fabricated and tested which shows 81.7% reduction in the average torque of the actuators. In order to provide maximum dexterity level with the minimum number of components in the proposed mechanism, an optimal design approach is proposed and studied. In this approach, the number of links to reach a desired target along a border-collision-free motion is minimized. Via different experimental and simulation examples, effectiveness of the proposed approach is demonstrated." @default.
- W3187500093 created "2021-08-16" @default.
- W3187500093 creator A5001994535 @default.
- W3187500093 creator A5020029269 @default.
- W3187500093 creator A5020470831 @default.
- W3187500093 creator A5054609767 @default.
- W3187500093 creator A5067725036 @default.
- W3187500093 creator A5081698426 @default.
- W3187500093 creator A5084867041 @default.
- W3187500093 date "2021-08-01" @default.
- W3187500093 modified "2023-10-17" @default.
- W3187500093 title "A Novel Mechanism for Gravity-Balancing of Serial Robots With High-Dexterity Applications" @default.
- W3187500093 cites W1720752806 @default.
- W3187500093 cites W1974932586 @default.
- W3187500093 cites W1976710538 @default.
- W3187500093 cites W1978082245 @default.
- W3187500093 cites W1982080242 @default.
- W3187500093 cites W1987395322 @default.
- W3187500093 cites W2034682434 @default.
- W3187500093 cites W2036156024 @default.
- W3187500093 cites W2042622861 @default.
- W3187500093 cites W2043960371 @default.
- W3187500093 cites W2053846072 @default.
- W3187500093 cites W2070342389 @default.
- W3187500093 cites W2071998354 @default.
- W3187500093 cites W2128769851 @default.
- W3187500093 cites W2136132944 @default.
- W3187500093 cites W2140803682 @default.
- W3187500093 cites W2147307215 @default.
- W3187500093 cites W2157533514 @default.
- W3187500093 cites W2160324806 @default.
- W3187500093 cites W2167286584 @default.
- W3187500093 cites W2279885131 @default.
- W3187500093 cites W2322939493 @default.
- W3187500093 cites W2567634640 @default.
- W3187500093 cites W2594548803 @default.
- W3187500093 cites W2604145859 @default.
- W3187500093 cites W2889149020 @default.
- W3187500093 cites W2889829969 @default.
- W3187500093 cites W2895899316 @default.
- W3187500093 cites W2919273215 @default.
- W3187500093 cites W2929454448 @default.
- W3187500093 cites W2954385853 @default.
- W3187500093 cites W2959662748 @default.
- W3187500093 cites W2963436368 @default.
- W3187500093 cites W2996114691 @default.
- W3187500093 doi "https://doi.org/10.1109/tmrb.2021.3098124" @default.
- W3187500093 hasPublicationYear "2021" @default.
- W3187500093 type Work @default.
- W3187500093 sameAs 3187500093 @default.
- W3187500093 citedByCount "7" @default.
- W3187500093 countsByYear W31875000932022 @default.
- W3187500093 countsByYear W31875000932023 @default.
- W3187500093 crossrefType "journal-article" @default.
- W3187500093 hasAuthorship W3187500093A5001994535 @default.
- W3187500093 hasAuthorship W3187500093A5020029269 @default.
- W3187500093 hasAuthorship W3187500093A5020470831 @default.
- W3187500093 hasAuthorship W3187500093A5054609767 @default.
- W3187500093 hasAuthorship W3187500093A5067725036 @default.
- W3187500093 hasAuthorship W3187500093A5081698426 @default.
- W3187500093 hasAuthorship W3187500093A5084867041 @default.
- W3187500093 hasBestOaLocation W31875000931 @default.
- W3187500093 hasConcept C111335779 @default.
- W3187500093 hasConcept C111472728 @default.
- W3187500093 hasConcept C120910303 @default.
- W3187500093 hasConcept C121332964 @default.
- W3187500093 hasConcept C127413603 @default.
- W3187500093 hasConcept C133731056 @default.
- W3187500093 hasConcept C134306372 @default.
- W3187500093 hasConcept C138094506 @default.
- W3187500093 hasConcept C138885662 @default.
- W3187500093 hasConcept C144171764 @default.
- W3187500093 hasConcept C154945302 @default.
- W3187500093 hasConcept C172707124 @default.
- W3187500093 hasConcept C188198153 @default.
- W3187500093 hasConcept C2524010 @default.
- W3187500093 hasConcept C2775924081 @default.
- W3187500093 hasConcept C28719098 @default.
- W3187500093 hasConcept C33923547 @default.
- W3187500093 hasConcept C39920418 @default.
- W3187500093 hasConcept C41008148 @default.
- W3187500093 hasConcept C42058472 @default.
- W3187500093 hasConcept C44154836 @default.
- W3187500093 hasConcept C47446073 @default.
- W3187500093 hasConcept C51707140 @default.
- W3187500093 hasConcept C74650414 @default.
- W3187500093 hasConcept C78519656 @default.
- W3187500093 hasConcept C89611455 @default.
- W3187500093 hasConcept C90509273 @default.
- W3187500093 hasConcept C9390403 @default.
- W3187500093 hasConcept C97355855 @default.
- W3187500093 hasConceptScore W3187500093C111335779 @default.
- W3187500093 hasConceptScore W3187500093C111472728 @default.
- W3187500093 hasConceptScore W3187500093C120910303 @default.
- W3187500093 hasConceptScore W3187500093C121332964 @default.
- W3187500093 hasConceptScore W3187500093C127413603 @default.
- W3187500093 hasConceptScore W3187500093C133731056 @default.
- W3187500093 hasConceptScore W3187500093C134306372 @default.