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.
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.File in questo prodotto:
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