Cable-Driven Parallel Robots (CDPRs) employ bendable cables instead of rigid links to move an end-effector (EE). Cables are wound on winches, routed through pulleys, and finally attached to the EE. The real-time Direct Kinematics of these manipulators is usually solved by measuring the lengths of each cable, but the problem may attain multiple solutions. This paper proposes the kinematic model, design, and experimental evidence of a novel cable-routing system. The system can be embedded with two rotary sensors and a load cell, which measure kinematic model variables, presumably simplifying real-time Direct Kinematics of CDPRs.

Lucarini A., Ida E. (2022). Kinematic Modeling and Design of a Sensorized Cable-Routing System for Cable-Driven Parallel Robots. Cham : Springer Science and Business Media B.V. [10.1007/978-3-031-10776-4_10].

Kinematic Modeling and Design of a Sensorized Cable-Routing System for Cable-Driven Parallel Robots

Lucarini A.
Primo
Conceptualization
;
Ida E.
Ultimo
Supervision
2022

Abstract

Cable-Driven Parallel Robots (CDPRs) employ bendable cables instead of rigid links to move an end-effector (EE). Cables are wound on winches, routed through pulleys, and finally attached to the EE. The real-time Direct Kinematics of these manipulators is usually solved by measuring the lengths of each cable, but the problem may attain multiple solutions. This paper proposes the kinematic model, design, and experimental evidence of a novel cable-routing system. The system can be embedded with two rotary sensors and a load cell, which measure kinematic model variables, presumably simplifying real-time Direct Kinematics of CDPRs.
2022
Mechanisms and Machine Science
77
85
Lucarini A., Ida E. (2022). Kinematic Modeling and Design of a Sensorized Cable-Routing System for Cable-Driven Parallel Robots. Cham : Springer Science and Business Media B.V. [10.1007/978-3-031-10776-4_10].
Lucarini A.; Ida E.
File in questo prodotto:
Eventuali allegati, non sono esposti

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

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/895069
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 4
  • ???jsp.display-item.citation.isi??? ND
social impact