Chain Driven Robots: An Industrial Application Opportunity. A Planar Case Approach

Andrés García-Vanegas; Erika Ottaviano; Fernando J. Castillo-García; Antonio González-Rodríguez; David Rodríguez-Rosa; Guillermo Rubio-Gómez

Chain Driven Robots: An Industrial Application Opportunity. A Planar Case Approach

Andrés García-Vanegas, Erika Ottaviano, Fernando J. Castillo-García, Antonio González-Rodríguez, David Rodríguez-Rosa, Guillermo Rubio-Gómez

Ingeniería Mecánica

Resultado de la investigación: Contribución a una revista › Artículo

Resumen

This work presents Chain-Driven Parallel Robots replacing cables by chains. The use of conventional sprockets adds some important advantages with regards to Cable-Driven Parallel Robots. The most important ones are: a) no drum is required; b) no cable plasticity limitation must be imposed; c) using counterweights the manipulator can move the required payload with low motorization. In this paper some design considerations for allowing an accurate positioning and maximizing the robot workspace are presented. As example, a 2 Degrees-of-Freedom planar manipulator has been designed and built. The robot can command a 60 kg payload into a 0.8 m × 1.8 m workspace using only two 150W DC motor.

Idioma original	Español (Colombia)
Páginas (desde-hasta)	13-22
Número de páginas	10
Publicación	Mechanisms and Machine Science
Volumen	74
Estado	Publicada - 13 jun 2019

Palabras clave

Chain-Driven Robot
Industrial Applications

Citar esto

García-Vanegas, A., Ottaviano, E., Castillo-García, F. J., González-Rodríguez, A., Rodríguez-Rosa, D., & Rubio-Gómez, G. (2019). Chain Driven Robots: An Industrial Application Opportunity. A Planar Case Approach. Mechanisms and Machine Science, 74, 13-22.

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title = "Chain Driven Robots: An Industrial Application Opportunity. A Planar Case Approach",

abstract = "This work presents Chain-Driven Parallel Robots replacing cables by chains. The use of conventional sprockets adds some important advantages with regards to Cable-Driven Parallel Robots. The most important ones are: a) no drum is required; b) no cable plasticity limitation must be imposed; c) using counterweights the manipulator can move the required payload with low motorization. In this paper some design considerations for allowing an accurate positioning and maximizing the robot workspace are presented. As example, a 2 Degrees-of-Freedom planar manipulator has been designed and built. The robot can command a 60 kg payload into a 0.8 m × 1.8 m workspace using only two 150W DC motor.",

keywords = "Chain-Driven Robot, Industrial Applications",

author = "Andr{\'e}s Garc{\'i}a-Vanegas and Erika Ottaviano and Castillo-Garc{\'i}a, {Fernando J.} and Antonio Gonz{\'a}lez-Rodr{\'i}guez and David Rodr{\'i}guez-Rosa and Guillermo Rubio-G{\'o}mez",

year = "2019",

month = jun,

day = "13",

language = "Espa{\~n}ol (Colombia)",

volume = "74",

pages = "13--22",

journal = "Mechanisms and Machine Science",

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Chain Driven Robots: An Industrial Application Opportunity. A Planar Case Approach. / García-Vanegas, Andrés; Ottaviano, Erika; Castillo-García, Fernando J.; González-Rodríguez, Antonio; Rodríguez-Rosa, David; Rubio-Gómez, Guillermo.

En: Mechanisms and Machine Science, Vol. 74, 13.06.2019, p. 13-22.

Resultado de la investigación: Contribución a una revista › Artículo

TY - JOUR

T1 - Chain Driven Robots: An Industrial Application Opportunity. A Planar Case Approach

AU - García-Vanegas, Andrés

AU - Ottaviano, Erika

AU - Castillo-García, Fernando J.

AU - González-Rodríguez, Antonio

AU - Rodríguez-Rosa, David

AU - Rubio-Gómez, Guillermo

PY - 2019/6/13

Y1 - 2019/6/13

N2 - This work presents Chain-Driven Parallel Robots replacing cables by chains. The use of conventional sprockets adds some important advantages with regards to Cable-Driven Parallel Robots. The most important ones are: a) no drum is required; b) no cable plasticity limitation must be imposed; c) using counterweights the manipulator can move the required payload with low motorization. In this paper some design considerations for allowing an accurate positioning and maximizing the robot workspace are presented. As example, a 2 Degrees-of-Freedom planar manipulator has been designed and built. The robot can command a 60 kg payload into a 0.8 m × 1.8 m workspace using only two 150W DC motor.

AB - This work presents Chain-Driven Parallel Robots replacing cables by chains. The use of conventional sprockets adds some important advantages with regards to Cable-Driven Parallel Robots. The most important ones are: a) no drum is required; b) no cable plasticity limitation must be imposed; c) using counterweights the manipulator can move the required payload with low motorization. In this paper some design considerations for allowing an accurate positioning and maximizing the robot workspace are presented. As example, a 2 Degrees-of-Freedom planar manipulator has been designed and built. The robot can command a 60 kg payload into a 0.8 m × 1.8 m workspace using only two 150W DC motor.

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JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

SN - 2211-0984

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