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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
