Cable-Driven Parallel Robots (CDPRs) use cables, instead of rigid links, to move an end-effector (EE). If fewer cables than the EE degrees of freedoms (DoFs) are employed, CDPRs are underactuated, and only a subset of the EE DoFs can be assigned, the remaining ones depending on the EE mechanical equilibrium. To evaluate the performances of such systems, their workspace computation is a fundamental step. This paper introduces an algorithm for the computation of the reachable and static workspace (RSW) of 4-cable underactuated CDPRs. The algorithm leverages the definition of a modified inverse geometrico-static problem, which only requires assigning a desired robot position, and computes a statically feasible orientation characterized by positive and bounded cable tensions with a specified tension distribution.

Ida E., Carricato M. (2023). Static Workspace Computation for Four-Cable Underactuated Cable-Driven Parallel Robots. Cham : Springer [10.1007/978-3-031-45705-0_57].

Static Workspace Computation for Four-Cable Underactuated Cable-Driven Parallel Robots

Ida E.
;
Carricato M.
2023

Abstract

Cable-Driven Parallel Robots (CDPRs) use cables, instead of rigid links, to move an end-effector (EE). If fewer cables than the EE degrees of freedoms (DoFs) are employed, CDPRs are underactuated, and only a subset of the EE DoFs can be assigned, the remaining ones depending on the EE mechanical equilibrium. To evaluate the performances of such systems, their workspace computation is a fundamental step. This paper introduces an algorithm for the computation of the reachable and static workspace (RSW) of 4-cable underactuated CDPRs. The algorithm leverages the definition of a modified inverse geometrico-static problem, which only requires assigning a desired robot position, and computes a statically feasible orientation characterized by positive and bounded cable tensions with a specified tension distribution.
2023
Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023
588
598
Ida E., Carricato M. (2023). Static Workspace Computation for Four-Cable Underactuated Cable-Driven Parallel Robots. Cham : Springer [10.1007/978-3-031-45705-0_57].
Ida E.; Carricato M.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/951162
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