Actuator Design for Stabilizing Single Tendon Platforms

摘要

In this paper we illustrate the feasibility of using control moment gyroscopes (CMGs) for the stabilization of free swinging robots hanging from single tendons. Such systems may provide robotic workspaces of unprecedented size, especially in the vertical. Taking typical base reaction forces of industrial robots we show that control moment gyroscopes may provide means for compensation. From the basic principles of CMGs we derive design criteria for a free swinging robot platform. These criteria are illustrated in the design of a scissored pair CMG for a single DoF demonstrator.