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Theoretical and Applied Mechanics Letters
Pictures of the large scale solar cell handling robot.
Schematic diagram of the robot.
Belt driven link system.
Finite element flexible model of forks and the rigid model of the hand flat.
Full model of the robot with flexible fork modeled with finite elements.
Schematic diagram of belt drive system with a tensioner.
Finite element model of belt drive system.
Contour of the pulley tooth and the belt tooth.
Profile of the pulley and belt with designated contact points to be matched during the motion.
Bode plot of the fork model with a well-tuned velocity proportional integral differential (PID) and position PID controller.
Calculated response of tension in the belt model.
Calculated velocity response of the driven pulley (bottom plot is the magnified view of the constant velocity area).
Parameters and their values for fork model.
Parameters and their values for belt drive.
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