The direct geometrico-static problem of cable-driven parallel robots with five cables is presented. The study provides procedures for the identification of all equilibrium poses of the end-effector when cable lengths are assigned. A least-degree univariate polynomial in the ideal governing the problem is obtained, thus showing that the latter has 140 solutions in the complex field. By a continuation technique, an upper bound on the number of real solutions is estimated. An algorithm based on parameter homotopy continuation is developed for the efficient computation of the whole solution set, including equilibrium poses with slack cables.
Direct Geometrico-Static Problem of Underconstrained Cable-Driven Parallel Robots with Five Cables / Ghasem Abbasnejad; Marco Carricato. - STAMPA. - 15:(2014), pp. 59-66. (Intervento presentato al convegno 6th International Workshop on Computational Kinematics (CK2013) tenutosi a Barcelona, Spain nel May 12-15, 2013) [10.1007/978-94-007-7214-4-7].
Direct Geometrico-Static Problem of Underconstrained Cable-Driven Parallel Robots with Five Cables
ABBASNEJAD MATIKOLAEI, GHASEM;CARRICATO, MARCO
2014
Abstract
The direct geometrico-static problem of cable-driven parallel robots with five cables is presented. The study provides procedures for the identification of all equilibrium poses of the end-effector when cable lengths are assigned. A least-degree univariate polynomial in the ideal governing the problem is obtained, thus showing that the latter has 140 solutions in the complex field. By a continuation technique, an upper bound on the number of real solutions is estimated. An algorithm based on parameter homotopy continuation is developed for the efficient computation of the whole solution set, including equilibrium poses with slack cables.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
