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标题：Working and Limitations of Cable Stiffening in Flexible Link Manipulators
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作者：Rahul Dixit ; R. Prasanth Kumar
期刊名称：Advances in Acoustics and Vibration
印刷版ISSN：1687-6261
电子版ISSN：1687-627X
出版年度：2016
卷号：2016
DOI：10.1155/2016/4503696
出版社：Hindawi Publishing Corporation
摘要：Rigid link manipulators (RLMs) are used in industry to move and manipulate objects in their workspaces. Flexible link manipulators (FLMs), which are much lighter and hence highly flexible compared to RLMs, have been proposed in the past as means to reduce energy consumption and increase the speed of operation. Unlike RLM, an FLM has infinite degrees of freedom actuated by finite number of actuators. Due to high flexibility affecting the precision of operation, special control algorithms are required to make them usable. Recently, a method to stiffen FLMs using cables, without adding significant inertia or adversely affecting the advantages of FLMs, has been proposed as a possible solution in a preliminary work by the authors. An FLM stiffened using cables can use existing control algorithms designed for RLMs. In this paper we discuss in detail the working principle and limitations of cable stiffening for flexible link manipulators through simulations and experiments. A systematic way of deciding the location of cable attachments to the FLM is also presented. The main result of this paper is to show the advantage of adding a second pair of cables in reducing overall link deflections.