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 M.. - STAMPA. - (2010), pp. 443-454. (Intervento presentato al convegno Quarta giornata di studio Ettore Funaioli tenutosi a Bologna nel 16 luglio 2010).
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
