Geometrico-static Analysis of Under-constrained Cable-driven Parallel Robots
نویسنده
چکیده
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.
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