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.

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.
Cable-Driven Parallel Robots
251
268
MECHANISMS AND MACHINE SCIENCE
Berti A.; Merlet J.-P.; Carricato M.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/126679
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