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. The main characteristics of the algorithm are here discussed and some examples are proposed.
Alessandro Berti, Jean-Piere Merlet, Marco Carricato (2012). Solving the Direct Geometrico-Static Problem of 3-3 Cable-Driven Parallel Robots by an Interval Analysis Based Algorithm. Bologna : Società Editrice Esculapio.
Solving the Direct Geometrico-Static Problem of 3-3 Cable-Driven Parallel Robots by an Interval Analysis Based Algorithm
BERTI, ALESSANDRO;CARRICATO, MARCO
2012
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. The main characteristics of the algorithm are here discussed and some examples are proposed.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
