This paper studies under-constrained cable-driven parallel robots with three cables. A major challenge in the study of these manipulators is the intrinsic coupling between kinematics and statics, which must be tackled simultaneously. In this contribution, a general elimination procedure is provided that solves the direct geometrico-static problem, which consists in determining the platform posture and the cable tensions when the cable lengths are assigned. The problem is proven to have up to 156 complex solutions.
Carricato M., Merlet J.-P. (2011). Direct Geometrico-Static Problem of Under-Constrained Cable-Driven Parallel Robots with Three Cables. Piscataway : IEEE - Institute of Electrical and Electronics Engineers [10.1109/ICRA.2011.5979762].
Direct Geometrico-Static Problem of Under-Constrained Cable-Driven Parallel Robots with Three Cables
CARRICATO, MARCO;
2011
Abstract
This paper studies under-constrained cable-driven parallel robots with three cables. A major challenge in the study of these manipulators is the intrinsic coupling between kinematics and statics, which must be tackled simultaneously. In this contribution, a general elimination procedure is provided that solves the direct geometrico-static problem, which consists in determining the platform posture and the cable tensions when the cable lengths are assigned. The problem is proven to have up to 156 complex solutions.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
