Real-Time Cable Force Calculation beyond the Wrench-Feasible Workspace

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چکیده

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Modeling and Wrench Feasible Workspace Analysis of a Cable Suspended Robot for Heavy Loads Handling

Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and app...

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Modeling and Wrench Feasible Workspace Analysis of a Cable Suspended Robot for Heavy Loads Handling

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Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack –to keep the control of the platform– nor excessively tight –to prevent cable breakage– even in the presence of bounded perturbations of the wrench. This paper proposes a path...

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modeling and wrench feasible workspace analysis of a cable suspended robot for heavy loads handling

modeling and wrench feasible workspace analysis of a spatial cable suspended robots is presented. a six-cable spatial cable robot is used the same as stewart robots. due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied...

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ژورنال

عنوان ژورنال: Robotics

سال: 2020

ISSN: 2218-6581

DOI: 10.3390/robotics9020041