WO2016134842A1 - Système de robot à câbles pour la simulation de mouvement - Google Patents

Système de robot à câbles pour la simulation de mouvement Download PDF

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Publication number
WO2016134842A1
WO2016134842A1 PCT/EP2016/000307 EP2016000307W WO2016134842A1 WO 2016134842 A1 WO2016134842 A1 WO 2016134842A1 EP 2016000307 W EP2016000307 W EP 2016000307W WO 2016134842 A1 WO2016134842 A1 WO 2016134842A1
Authority
WO
WIPO (PCT)
Prior art keywords
cable
cable robot
framework
receiving device
robot system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2016/000307
Other languages
German (de)
English (en)
Inventor
Heinrich H. BÜLTHOFF
Philipp Miermeister
Harald Teufel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Max Planck Gesellschaft zur Foerderung der Wissenschaften eV
Original Assignee
Max Planck Gesellschaft zur Foerderung der Wissenschaften eV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Max Planck Gesellschaft zur Foerderung der Wissenschaften eV filed Critical Max Planck Gesellschaft zur Foerderung der Wissenschaften eV
Publication of WO2016134842A1 publication Critical patent/WO2016134842A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G31/00—Amusement arrangements
    • A63G31/16—Amusement arrangements creating illusions of travel
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators

Definitions

  • the invention relates to a cable robot system forenforceablessi ⁇ mulation or a motion simulator with a cable robot.
  • Motion simulators are used in industry and research and serve, among other things, the simulation of moving systems, such as vehicles, aircraft or the like. With the motion simulator, the movements of the moving system should be simulated as realistically as possible.
  • the motion simulator generates accelerations or
  • the user who is in a hollow body or a cubicle, can also be given a virtual reality via a large number of artificially created sensory perceptions, for example via visual stimuli, which are supplied to the user via an image reproduction system.
  • visual stimuli which are supplied to the user via an image reproduction system.
  • the human brain interprets virtual states of motion.
  • motion simulators are known in which the user can control the movements of the moving system in the virtual world via parameter input units.
  • the known from practice motion simulators can be divided into two groups. Parallel systems - the most common type is the Stewart platform - have large payloads on, have a high rigidity, have little vibration and vibration and allow high accelerations.
  • 2011/144228 AI disclosed and based on a robot arm motion simulator have larger work spaces and have a large dynamic range, but tend due to their design to vibration and vibration.
  • a motion simulator is known in which a gimbaled holding device for at least one person is rotatable about two different spatial axes and optionally on a Stewart platform, a linearly movable Heave slide or a one-arm centrifuge can be arranged.
  • the holding device has at least one rotary degree of freedom with respect to the image display area.
  • the disadvantage of this is in each case the limited in comparison to the aforementioned systems dynamic range.
  • a cable robot system for motion simulation, i. H. a device for the spatial movement of persons, in particular a movement simulator, based on a
  • the cable robot system comprises a receiving device for receiving at least one person, a casing surrounding the receiving device and a cable robot whose cables engage the casing so that the casing can be moved continuously within a predetermined range of motion by changing the length of at least one of the cables.
  • the advantage of a motion simulator based on a cable robot system is that a cable robot allows a large working space and a high payload, while showing little tendency to oscillations and vibrations.
  • the cable robot is preferably a parallel cable robot.
  • ropes in the context of the present invention is not narrow, but rather broadly construed and should generally be understood to mean floppy connecting elements, in particular cables, bands or cables include.
  • the term "shell” determination in the sense of the present ER in a general sense to understand and is used to describe open or closed structures or hollow body, on the one hand adapted to the Recordin ⁇ me owned and thus the person (driver , Pilot, etc.) and possibly need to input devices and display devices in their interior, and on the other hand, the
  • Ropes of the rope robot can be attached.
  • the term "shell” is intended to include, for example, open or closed cabins or similar types of construction as well as frame structures, three-dimensional framework structures, in particular poles.
  • the sheath can be embodied as a truss structure or surrounding truss structure of rods and Knotenelemen- which surrounds the receiving device spatially, wherein the ends of the rods are attached to the node elements.
  • the ropes of the cable robot attack on at least some of the node elements of the framework.
  • the framework has the advantage that it allows a stable and lightweight frame construction for receiving the receiving device. Furthermore, flexibly different cable configurations can be realized by varying the nodes to which the cables are attached.
  • the open framework structure also allows easy installation and adjustment. tion of the components of the cable robot system located in the interior of the framework.
  • this is convex polyhedron-shaped to allow a good stability.
  • a framework which is executed hexahedral, dodecahedron or icosahedral, since these forms provide a sufficient number of corners for attaching the ropes and a large usable interior space.
  • the framework is executed icosahedral.
  • the icosahedral bar structure makes possible an optimal compromise of the number of knots and edges which, on the one hand, permit a sufficiently flexible arrangement of the cables and, on the other hand, require not too high assembly and material expenditure.
  • the triangular structures formed by the bars and nodes are statically stable, and the icosahedron has the largest volume of any regular diameter polyhedrons that can be used to locate the rotating unit and / or the receiver.
  • the rods of the framework are carbon or carbon fiber reinforced plastic (CFRP) rods with introduced metallic force introduction elements or as aluminum rods and / or to manufacture the node elements of the framework made of aluminum, for example as aluminum milled parts.
  • CFRP carbon or carbon fiber reinforced plastic
  • the node elements of the framework each have an outer piece and a Inside piece on.
  • the outer piece on the periphery contact surfaces with through holes on which the node element associated rods are bolted.
  • This he ⁇ allows a quick installation of the framework.
  • httpsss a bracket for mounting ei ⁇ nes rope of the rope robot pivotally secured to the inner member about two mutually perpendicular axes of rotation to allow an advantageous application of force upon movement of the rod through the drive rope robot.
  • a further advantageous variant of this embodiment provides that the inner piece is inserted with a cone-shaped portion in a cone-shaped recess of the outer piece and is drawn with a clamping screw in the recess, which causes an automatic DZentr mich when attaching the ropes.
  • a positive and frictional connection is generated, which ensures a reliable application of force while stabilizing the outer cone.
  • the longitudinal axes of the rods of a knot i. H. the lines of action of the framework, in the same point, whereby an advantageous application of force is made possible.
  • the line of action of the rope pivot meets the lines of action of the framework at the same point in order to avoid torques in the framework.
  • the rope pivot may be displaced outwards in the direction of the cone axis of the cone-shaped section of the inner piece, so that at least the cone axis of the cone-shaped section of the inner piece also
  • the holder for attaching the ropes can be fixed by means of a screw on the inner piece, such that the Hal ⁇ sion is pivotally mounted on a projecting from the inner piece and the outer piece end portion of the screw relative to the threaded shank of the screw about the two axes of rotation.
  • the holder can always optimally adapt to the respective line of action of the cable traction.
  • the cable robot system may further comprise a rotation unit, by means of which the receiving device in the interior of the shell is rotatable relative to the shell.
  • a rotation unit by means of which the receiving device in the interior of the shell is rotatable relative to the shell.
  • An advantageous embodiment provides in this case that the receiving device is gimballed by means of the rotation unit in the interior of the shell, so that the receiving device can perform rotational movements by at least two, preferably by three different spatial axes. With a gimballed suspension around three different spatial axes, regardless of the movement of the cable robot, all desired rotational movements for the motion simulation can be carried out. Furthermore, it is possible for a person in the reception device to be involved in all aspects of the wegungsraumes the rope robot always in a z. B. to bring horizontal position, so that the movement space can be optimally ⁇ uses.
  • the outer support member is rotatably attached to the shell.
  • the receiving device On the inner support member or in its interior, the receiving device is supported.
  • the rotation unit may be implemented as a two-dimensional or three-dimensional gimbal system.
  • the three-dimensional gimbal system may instead of three also have four nested support elements, which are rotatably connected to each other via respective axes of rotation.
  • the drive unit of each of the carrier elements has a drive ring and a motor.
  • the drive ring is in this case rotatably connected to the respective carrier element and arranged concentrically to the axis of rotation of the respective carrier element.
  • the drive ring is also at its outer peripheral portion with the motor, which is adapted to generate a rotational movement of the drive ring about the respective rotation axis, in operative connection.
  • a rotation of the drive ring about the axis of rotation thus causes a corresponding rotation of that support member to which the drive ring is rotatably attached to this axis of rotation.
  • the engine may be connected to a motor at the outer circumference.
  • the support element itself is annular or at least has an annular portion which intersects the axis of rotation of the support member at two opposite bearing points and is rotatably connected at two connection points with the associated drive ring, which preferably has the same diameter ,
  • the cable robot can in a conventional manner drives, preferably winches, include, which cause the Computingnver Sige the exclusively tensile forces transmitting ropes of the cable robot, each attacking on the sheath rope is connected at the other end with one of the drives and wherein the cables via the drives against each other braced and / or are tense.
  • the cable robot may further comprise deflection rollers and / or pulleys arranged on a fastening structure and pivotable about at least one axis, via which the cables are guided by the respective drive to an attachment point of the sheath and which define the corner points of a three-dimensional movement space within which the cables Admission- device surrounding the housing by means of the cable robot is freely positioned floating.
  • the cable robot may further include a controller configured to calculate the respective lengths of the cables to effect a predetermined movement and to control the drives in concert to vary the envelope in position and / or orientation relative to the attachment structure such that let the shell and the components contained in it move temporally and spatially defined.
  • the number of ropes of the rope robot used to move the sheath is not limited to a certain number and can be adapted to the particular simulation problem.
  • the number of ropes is preferably in the range between six and ten.
  • Each rope is guided over a pivotable deflection roller to the shell, wherein the corresponding eight pivoting pulleys to form eight outer corners of a preferably cuboid movement space around the shell, z. B. the framework, distributed.
  • the cable robot system comprises an energy supply chain for supplying the rotary unit and for supplying power-driven components arranged in the receiving device.
  • the power supply chain may be located at a central area of an upper interface of the movement space be held and / or enter at this point in the movement space and the movable connection point of the Energyzut ⁇ tion chain can be performed over an upper portion of the shell in the interior of the shell.
  • a power supply chain serves to guide cables, hoses or similar conductors between a fixed and a movable connection point for external supply of fürsinstalla ⁇ tions and includes a number of hingedly interconnected chain links, which form a receiving space for the cables and / or hoses.
  • the receiving device of the cable robot may have an open or closed cabin and / or a seat.
  • a display device is provided in the receiving device, by means of which a person to be simulated by the Frevorrich- a visual movement to be simulated, the display device preferably as a portable on the head visual output device (English: Head ounted display) or as a projection device with an associated pro etechnischs character 65 is executed.
  • a manually operable control device may further be provided, for example a steering wheel, a pedal and / or a joystick, by means of which the spatial movement performed by the device can be influenced and / or controlled by the person who is in the receiving device ,
  • the cable robot system in particular its controller, can be set up to adapt the motion to be simulated to the available motion space by means of so-called "motion cueing" algorithms. the is performed by means of the cable robot and / or the rotation unit.
  • the cable robotic system of the present invention according to the first aspect may comprise the framework as described in this document, with or without the rotation unit. According to the first aspect, it is not necessary to combine the cable robot system comprising the framework with a rotation unit. It is also possible within the scope of the invention for the cable robot system according to the second aspect to comprise the rotation unit as described in this document, with or without the framework described in this document. According to the second aspect, it is thus not necessary that the shell of the rotating unit having cable robot system is designed as a framework.
  • FIG. 1 shows a cable robot system for motion simulation according to an embodiment of the invention
  • Figure 2 is a framework according to an embodiment of the invention; 3 shows the framework of Figure 2 with an inscribed
  • FIG. 4 shows a node point of the framework according to an embodiment of the invention
  • Figure 5 is an exploded view of the node
  • FIG. 6 shows the framework of FIG. 2 and a 3D gimbal system according to an embodiment of the invention.
  • Figure 7 shows an inner ball in the framework with projection and projector. Identical parts are provided with the same reference numerals in the figures and will not be described separately.
  • FIG. 1 shows a cable robot system 1 for motion simulation, also referred to below as a motion simulator.
  • the cable robot system 1 comprises a cable robot 10 whose eight cables 11 act on an icosahedral rod structure 20, which will be explained in more detail below.
  • the cable robot further comprises eight winches 12 as drives with 55 kW maximum power, which cause the Consunver Slus exclusively tensile forces transmitting ropes 11 of the cable robot 10.
  • Each cable 11 acting on the framework 20 is fastened to one of the cable winches 12 at the other end.
  • the ropes 11 are braced against each other via the winches.
  • the used wire ropes 11 with 14 mm cross section offer tenfold security with a maximum tensile force of 14.4 per cable winch 12.
  • the wire ropes are guided via pulleys 14 which are fixed to an outer steel frame 4, in the eight corners of the room, of which they eight swivel rollers 13 (in Figure 1, only six of which are visible) to the framework 20 of the Motion simulator 1 are performed.
  • the framework 20 can be moved continuously within a predetermined range of motion 5, wherein the outer corners of the movement space 5 are determined by the position of the eight casters 13.
  • a controller is set up by programming to calculate the corresponding lengths of the cables 11 for performing a predetermined movement and to control the winches 12 in a coordinated manner in order to change the position of the framework 20 relative to the outer frame structure 4.
  • a receiving device for receiving at least one person, for. B. in the form of a closed cabin 70 which is rotatably mounted on the framework 20.
  • the receiving device located in the interior of the framework can also be suspended rotatably relative to the framework by means of a rotary unit 50 in the interior of the framework, which will be described in more detail in FIG.
  • Recording device is rotatable relative to the framework 20, via a power supply chain 3.
  • a power supply chain 3 To prevent the energy supply chain 3 obstructs the cable movements, this is at a central region 2 of the upper limit surface of the movement space 5 held stationary and enters at this point in the movement space 5 a.
  • the movable connection point of the energy supply chain 3 is located in the upper region of the framework 20.
  • Figure 2 shows a truss 20 according to a preferred exporting ⁇ approximately of the invention.
  • the framework 20 is formed of bars 21 and node elements 22, the ends of the bars 21 being fixed to the node elements 22.
  • the framework 20 is icosahedral, ie consists of 20 node elements 22 and 30 rods 21.
  • the rods 21 are designed as carbon fiber reinforced plastic (CFRP) rods, in the end of an aluminum thread with screw holes is introduced as force introduction and fastening element, and have at high stiffness low weight. In these rods tensile forces are absorbed by the introduced aluminum thread and compressive forces from the carbon fibers.
  • CFRP carbon fiber reinforced plastic
  • the node elements 22 are manufactured as aluminum milled parts and each have an outer piece 23 and an inner piece 24. In Figure 2, only the outer piece 23 is shown.
  • the outer piece has on its underside a through hole 28, via which a clamping screw (not shown) can be inserted to secure the inner piece 24 on the outer piece 23.
  • the icosahedral framework 20 provides an optimal compromise of the number of nodes 22 and edges 21, so that on the one hand a sufficiently flexible arrangement of the cables on the framework 20 is made possible and on the other hand the assembly and material costs remain low.
  • the icosahedron possesses of all the regular polyhedra with a given diameter largest volume that can be used to arrange the rotation unit and / or the receiving device.
  • FIG. 4 shows a perspective detail view of a node 22 of the framework 20 according to an embodiment of the invention.
  • the outer piece 23 has five peripheral contact surfaces 26 with through holes 25, wherein the through holes 25 of each contact surface 26 are arranged in a circle.
  • the aluminum thread introduced into the CFRP rods has correspondingly a corresponding circular arrangement of threaded bores, so that a CFRP rod 21 can be screwed to the contact bores 26 via the through bores 25.
  • the inner piece 24 has a cone-shaped portion 24a which is inserted into a shape-corresponding cone-shaped recess 23a of the outer piece 23. With a clamping screw (not shown), which engages through the lower opening 28 (see Figure 2) in an internal thread in the lower part of the cone-shaped portion 24, the inner piece 24 is pulled into the recess 23 a.
  • This biasing of the inner cone 24a creates a positive and frictional connection, which ensures a reliable application of force while stabilizing the outer cone 23.
  • a holder 30 for attaching a cable 11 of the cable robot is attached at the protruding from the outer piece 24 portion of the inner piece.
  • the holder 30 is pivotally mounted on the inner piece 24 about two mutually perpendicular axes of rotation Dl, D2.
  • the holder 30 is fixed by means of a screw 27 on the inner piece 24, wherein the holder 30 is attached to a protruding from the inner piece 24 and the outer piece 23 end portion of the screw 27 relative to the threaded shank of the screw 27 about the two axes of rotation Dl, D2 pivotally mounted.
  • the holder 30 has a passage opening through which a curved hook 15 is guided, which is attached to the rod-side end portion of the cable 11.
  • the longitudinal axes of the bars 21 of a node 22 intersect at the same point.
  • the axis Dl of the cone-shaped portion of the inner piece 24 also intersects this intersection of the longitudinal axes.
  • FIG. 6 shows the framework of FIG. 2 and a 3D gimbal system according to an embodiment of the invention.
  • a receiving device 8, 8a, 9 for receiving at least one person 7.
  • the receiving device comprises a seat which is mounted on a support structure 8, 8a.
  • the receiving device 8, 8a, 9 is gimballed by means of a rotation unit 50 in the interior of the framework 20 such that the receptacle Means 8, 8a, 9 rotational movements to three under defenceli ⁇ che spatial axes Gl, G2, G3 can perform (3D gimbal system).
  • the rotary unit 50 has three nested Susun ⁇ elements (first support member 51, second support member 53, third support member 55a, 55b, 55c, 55d) which G3 connected via jewei ⁇ leaf swing axes Gl, G2, together rotatably are and in each case in operative connection with a drive unit, by means of which they are rotatable about their respective axis of rotation.
  • the outer support member 51 includes an annular bracket and is rotatably suspended at the locations 51a on the framework 20, so that the outer support member 51 can rotate about the first axis of rotation Gl.
  • the drive unit of the first carrier element 51 comprises the drive ring 52, which is non-rotatably connected at the two points 59 with the first carrier element 51 and is arranged perpendicular and concentric to the axis of rotation Gl of the first carrier element.
  • the drive ring 51 is operatively connected at its outer peripheral region to an electric motor which acts on the drive ring 52 via a belt drive.
  • the electric motor can z. B. also be supported on the drive ring.
  • the electric motor and the belt drive are not shown for clarity.
  • a second annular carrier element 53 is provided to form a further rotational degree of freedom.
  • the second carrier element 53 is rotatably mounted on the inside of the connecting region 53a of the first carrier element 51 with the first drive ring 52 to the first carrier element 51, so that the second Support member 53 can rotate about a second axis of rotation G2.
  • the position of the second axis of rotation G2 depends on the current rotational position of the first carrier element 51.
  • the drive unit of the second carrier element 53 comprises the second drive ring 54 which is non-rotatably connected at the two points 60 to the second carrier element 53 and is arranged concentrically and perpendicular to the axis of rotation G2 of the second carrier element 53.
  • the second drive ring 54 is in turn in operative connection with an electric motor which engages via a belt drive on the outer peripheral portion of the drive ring 54 (again not shown in Figure 6 for the sake of clarity).
  • the carrier element of the third rotational degree of freedom (rotation axis G4) is formed from a ring structure of the two ring pairs 55a, 55b and 55c and 55d, which are connected to one another via stabilizing struts 62, and which at the areas 55c, at which the two pairs of rings meet, are rotatably suspended on the second support member 52. In the instantaneous relative rotational position of the carrier elements relative to one another shown in FIG. 6, the carrier element of the third rotational degree of freedom is rotated such that the first axis of rotation G1 and the third axis of rotation G3 just coincide.
  • a driving element for the carrier element of the third rotational degree of freedom is a pair of drive rings 56a, 56b, which are rotatably connected at the points 61 with the ring pairs 55a, 55b and 55c and 55d.
  • the drive rings 56a, 56b are also peripherally in operative connection with an electric motor (again not shown).
  • each support member can be rotated about its axis of rotation.
  • the drive unit or the respective electric motor can be controlled accordingly by a controller of the cable robot system 1, so that the receiving device 8, 8a, 9 and the person 7 ei ⁇ ne perform predetermined rotational movement.
  • FIG. 6 shows by way of example a pair of slip rings 63.
  • the approximately spherical interior of the rotation unit 50 is also well suited for integration of a projection surface, which is shown in FIG.
  • FIG. 7 illustrates an inner sphere in the framework with projection surface and projector.
  • a closed spherical cabin 70 is supported on the framework. Furthermore, it is possible to cardanically unhook the cabin 70 via the rotation unit 50 on the framework 20 (not shown in FIG. 7).
  • the cabin 70 would be fixed to the inner support member of the rotation unit 50 and disposed in the interior thereof.
  • the user 7, who is in the seat 9 during the movement simulation, can visually display a movement to be simulated via a display device.
  • the pointing device may be implemented as a projection device 64 having an associated projection surface or as a head-on-screen visual output device.
  • a steering wheel, a pedal and / or a joystick may be further arranged, by which the running of the rope robot system spatial movement can be influenced and / or controlled (not shown).
  • HMD Mounted Display
  • the closed form of the HMD this is also possible with an open truss structure 20 of the simulator cab) or via a projection by means of a projector 67 on a projection surface within the cabin (closed cabin required).
  • a possible ⁇ lichst large spherical structure of the cabin for the integration of the projection is advantageous.

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

L'invention concerne un système de robot à câbles pour la simulation de mouvement ou un simulateur de mouvement comportant un robot à câbles. Le système de robot à câbles (1) comporte un dispositif de réception pour recevoir au moins une personne ; une enveloppe entourant le dispositif de réception ; un robot à câbles (10) dont les câbles (11) sont en prise avec l'enveloppe de telle manière que l'enveloppe peut être mise en mouvement en continu dans un espace de mouvement défini par l'intermédiaire d'une variation de longueur d'au moins un des câbles (11) ; et une unité de rotation (50) par l'intermédiaire de laquelle le dispositif de réception (50) peut être mis en rotation par rapport à l'enveloppe à l'intérieur de l'enveloppe.
PCT/EP2016/000307 2015-02-23 2016-02-22 Système de robot à câbles pour la simulation de mouvement Ceased WO2016134842A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015002297.0 2015-02-23
DE102015002297.0A DE102015002297B4 (de) 2015-02-23 2015-02-23 Seilrobotersystem zur Bewegungssimulation

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CN112025740A (zh) * 2020-07-29 2020-12-04 天津大学 一种张拉整体结构力反馈装置
CN112026951A (zh) * 2020-07-29 2020-12-04 天津大学 模块化张拉整体结构多足机器人
US11068626B2 (en) 2018-10-04 2021-07-20 Nvidia Corporation Simulating a cable driven system by simulating the effect of cable portions on objects of the system
CN114310850A (zh) * 2022-01-27 2022-04-12 山东大学 一种仿生蠕动式张拉整体机器人
CN115862407A (zh) * 2022-12-05 2023-03-28 中仿智能科技（上海）股份有限公司 一种绳索牵引模拟器
CN116158942A (zh) * 2023-03-14 2023-05-26 清华大学 可快速重构的移动式康复机器人

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CN109176493A (zh) * 2018-09-18 2019-01-11 哈尔滨工业大学（深圳） 一种绳索驱动装置及绳驱并联机器人
DE102019205853A1 (de) * 2019-04-24 2020-10-29 Volkswagen Aktiengesellschaft Verfahren zum Bewegen einer Fahrgastgondel, sowie System zum Betreiben einer entsprechenden Fahrgastgondel

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