Design and Manufacturing the Torque Gauge of ICaSbot and Implementing its Data Transfer Protocol
In this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. This approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capac...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Islamic Azad University-Isfahan (Khorasgan) Branch
2013-06-01
|
| Series: | International Journal of Advanced Design and Manufacturing Technology |
| Online Access: | https://admt.isfahan.iau.ir/article_534832_a741e6086438ab0cba081a0b4d21a022.pdf |
| _version_ | 1797657195897159680 |
|---|---|
| author | Moharam Habibnejad korayem A. Tajik H. Tourajizadeh |
| author_facet | Moharam Habibnejad korayem A. Tajik H. Tourajizadeh |
| author_sort | Moharam Habibnejad korayem |
| collection | DOAJ |
| description | In this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. This approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effecter final position. Close loop control of the robot and improvement its accuracy are of the objectives of this work. In addition, a new approach to transfer data from load cell to PC for a six Degree of Freedom (DOF) cable robot called ICaSbot is investigated. With neglecting cable mass, the value of cable length variation is estimated using cable tension theory in the specific path. The mechanism, the designed board and the sensors’ output and calibration equation are validated by the aid of a comparison study with simulation results of MATLAB for two different predefined paths |
| first_indexed | 2024-03-11T17:42:03Z |
| format | Article |
| id | doaj.art-8c3eef9598ab49a0b702ebcc89560f6a |
| institution | Directory Open Access Journal |
| issn | 2252-0406 2383-4447 |
| language | English |
| last_indexed | 2024-03-11T17:42:03Z |
| publishDate | 2013-06-01 |
| publisher | Islamic Azad University-Isfahan (Khorasgan) Branch |
| record_format | Article |
| series | International Journal of Advanced Design and Manufacturing Technology |
| spelling | doaj.art-8c3eef9598ab49a0b702ebcc89560f6a2023-10-18T09:42:02ZengIslamic Azad University-Isfahan (Khorasgan) BranchInternational Journal of Advanced Design and Manufacturing Technology2252-04062383-44472013-06-0162534832Design and Manufacturing the Torque Gauge of ICaSbot and Implementing its Data Transfer ProtocolMoharam Habibnejad korayem0A. TajikH. TourajizadehIUSTIn this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. This approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effecter final position. Close loop control of the robot and improvement its accuracy are of the objectives of this work. In addition, a new approach to transfer data from load cell to PC for a six Degree of Freedom (DOF) cable robot called ICaSbot is investigated. With neglecting cable mass, the value of cable length variation is estimated using cable tension theory in the specific path. The mechanism, the designed board and the sensors’ output and calibration equation are validated by the aid of a comparison study with simulation results of MATLAB for two different predefined pathshttps://admt.isfahan.iau.ir/article_534832_a741e6086438ab0cba081a0b4d21a022.pdf |
| spellingShingle | Moharam Habibnejad korayem A. Tajik H. Tourajizadeh Design and Manufacturing the Torque Gauge of ICaSbot and Implementing its Data Transfer Protocol International Journal of Advanced Design and Manufacturing Technology |
| title | Design and Manufacturing the Torque Gauge of ICaSbot and Implementing its Data Transfer Protocol |
| title_full | Design and Manufacturing the Torque Gauge of ICaSbot and Implementing its Data Transfer Protocol |
| title_fullStr | Design and Manufacturing the Torque Gauge of ICaSbot and Implementing its Data Transfer Protocol |
| title_full_unstemmed | Design and Manufacturing the Torque Gauge of ICaSbot and Implementing its Data Transfer Protocol |
| title_short | Design and Manufacturing the Torque Gauge of ICaSbot and Implementing its Data Transfer Protocol |
| title_sort | design and manufacturing the torque gauge of icasbot and implementing its data transfer protocol |
| url | https://admt.isfahan.iau.ir/article_534832_a741e6086438ab0cba081a0b4d21a022.pdf |
| work_keys_str_mv | AT moharamhabibnejadkorayem designandmanufacturingthetorquegaugeoficasbotandimplementingitsdatatransferprotocol AT atajik designandmanufacturingthetorquegaugeoficasbotandimplementingitsdatatransferprotocol AT htourajizadeh designandmanufacturingthetorquegaugeoficasbotandimplementingitsdatatransferprotocol |