Footnote Unknown Capi Error? Repair Immediately

Winding drums for robots with elastic bands

This article is about positioning control – an elastic robotic arm that controlsmy sinews like gravity. The robot is powered by elastic cables and packing drums are attached to the outside of the frames. The rubber ropes available in the industry are used as bundles. The advantage is to take advantage of the non-linear nature of rubber materials to obtain an inexpensive and flexible adjustable rate mortgage. In theory, intense gravity compensation requires a mathematical model with reliable parameters and accurate measurement of the weight of your payload. However, the need to take into account detailed information about the robot makes it difficult for its versatility, adaptability, as well as cost effectiveness. This article presents methods for re-evaluating and compensating for a new payload based on the stationary operating position error and the nominal tightening factor. Due to the non-linearity of real rubber cables, the operating error persists after one operation in combination with gravity compensation. However, experience shows that a simple repetition of the same paymentyou labor will reduce the error. Taking into account the nonlinearity of silicone strings, the mechanism is analyzed theoretically unambiguously, which reduces the number of errors. While the exact iterative process takes time, some methods require less information in advance. In addition, it is inexpensive as more than a sophisticated force sensor is required. Since the mechanism is applicable to typical rubber wire materials due to fewer errors, it makes sense to work with substantial, reconfigurable robots to keep costs down.

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