This paper studies cable-driven parallel robots with less than six cables, in crane configuration. A major challenge in the study of these manipulators is the intrinsic coupling between kinematics and statics, which must be dealt with simultaneously. A geometrico-static model is provided, together with a general procedure aimed at effectively solving the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, for which a purely algebraic formulation is provided. A spatial robot with three cables is studied as an application example.

Under-Constrained Cable-Driven Parallel Robots

CARRICATO, MARCO
2010

Abstract

This paper studies cable-driven parallel robots with less than six cables, in crane configuration. A major challenge in the study of these manipulators is the intrinsic coupling between kinematics and statics, which must be dealt with simultaneously. A geometrico-static model is provided, together with a general procedure aimed at effectively solving the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, for which a purely algebraic formulation is provided. A spatial robot with three cables is studied as an application example.
Quarta giornata di studio Ettore Funaioli
443
454
Carricato M.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/103392
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