This paper studies the kinematics and statics of cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, together with a general procedure aimed at effectively solving, in analytical form, the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, for which a purely algebraic formulation is provided. A spatial robot with three cables is studied as an application example.

Carricato M., Merlet J.-P. (2010). Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots. DORDRECHT : Springer [10.1007/978-90-481-9262-5_33].

Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots

CARRICATO, MARCO;
2010

Abstract

This paper studies the kinematics and statics of cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, together with a general procedure aimed at effectively solving, in analytical form, the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, for which a purely algebraic formulation is provided. A spatial robot with three cables is studied as an application example.
2010
Advances in Robot Kinematics: Motion in Man and Machine
309
319
Carricato M., Merlet J.-P. (2010). Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots. DORDRECHT : Springer [10.1007/978-90-481-9262-5_33].
Carricato M.; Merlet J.-P.
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/11585/90449
 Attenzione

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

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? 31
social impact