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.

Ghasem Abbasnejad, Marco Carricato (2014). Direct Geometrico-Static Problem of Underconstrained Cable-Driven Parallel Robots with Five Cables. Dordrecht : SPRINGER NETHERLANDS [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.
2014
Computational Kinematics
59
66
Ghasem Abbasnejad, Marco Carricato (2014). Direct Geometrico-Static Problem of Underconstrained Cable-Driven Parallel Robots with Five Cables. Dordrecht : SPRINGER NETHERLANDS [10.1007/978-94-007-7214-4-7].
Ghasem Abbasnejad; Marco Carricato
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/191789
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