بهبود عملکرد استاتیک یک ربات صنعتی با استفاده از یک سیستم خیلی فعال با هدایت کابل

Every industrial robot has a specific kinematics, which often results in anisotropic performance within its workspace in terms of force and velocity. A cable-driven system can be used to improve the force manipulability of a robot by introducing an actuation redundancy. Such system acts directly on the robot end-effector increasing its flexibility of use in applications where a higher and more uniform force performance is required. This work is focused on high-thrust operations, for example robotic friction stir welding or incremental forming, realized by means of a highly anisotropic industrial robot.