This paper studies the direct geometrico-static analysis of under-constrained cable-driven parallel robots with 3 cables. The task consists in finding all equilibrium configurations of the end-effector when the cable lengths are assigned. An interval-analysis-based procedure is proposed to numerically find the real solutions of the problem for a robot of generic geometry. Three equation sets obtained by different approaches are implemented in the problem-solving algorithm and a comparison between the main merits and drawbacks of each one of them is reported.
Berti A., Merlet J.-P., Carricato M. (2013). Solving the Direct Geometrico-Static Problem of 3-3 Cable-Driven Parallel Robots by Interval Analysis: Preliminary Results. Berlin Heidelberg : Springer [10.1007/978-3-642-31988-4_16].
Solving the Direct Geometrico-Static Problem of 3-3 Cable-Driven Parallel Robots by Interval Analysis: Preliminary Results
BERTI, ALESSANDRO;CARRICATO, MARCO
2013
Abstract
This paper studies the direct geometrico-static analysis of under-constrained cable-driven parallel robots with 3 cables. The task consists in finding all equilibrium configurations of the end-effector when the cable lengths are assigned. An interval-analysis-based procedure is proposed to numerically find the real solutions of the problem for a robot of generic geometry. Three equation sets obtained by different approaches are implemented in the problem-solving algorithm and a comparison between the main merits and drawbacks of each one of them is reported.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
