This paper studies cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, and the stability of static equilibrium is assessed within the framework of a constrained optimization problem. The method relies on ordinary linear-algebra routines, and it may be very simply applied to the most general architectures. Several examples are provided, concerning robots with a number of cables that range from 2 to 4.

Carricato M., Merlet J.-P. (2013). Stability Analysis of Underconstrained Cable-Driven Parallel Robots. IEEE TRANSACTIONS ON ROBOTICS, 29(1), 288-296 [10.1109/TRO.2012.2217795].

Stability Analysis of Underconstrained Cable-Driven Parallel Robots

CARRICATO, MARCO;
2013

Abstract

This paper studies cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, and the stability of static equilibrium is assessed within the framework of a constrained optimization problem. The method relies on ordinary linear-algebra routines, and it may be very simply applied to the most general architectures. Several examples are provided, concerning robots with a number of cables that range from 2 to 4.
2013
Carricato M., Merlet J.-P. (2013). Stability Analysis of Underconstrained Cable-Driven Parallel Robots. IEEE TRANSACTIONS ON ROBOTICS, 29(1), 288-296 [10.1109/TRO.2012.2217795].
Carricato M.; Merlet J.-P.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/127306
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