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