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

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Advances in Robot Kinematics: Motion in Man and Machine

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.

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Author information

Authors and Affiliations

  1. DIEM – Department of Mechanical Engineering, University of Bologna, Bologna, Italy

    M. Carricato

  2. INRIA Sophia Antipolis – Méditerranée, Sophia Antipolis, France

    J.-P. Merlet

Authors
  1. M. Carricato
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  2. J.-P. Merlet
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Corresponding author

Correspondence to M. Carricato .

Editor information

Editors and Affiliations

  1. Inst. J. Stefan, University Ljubljana, Ljubljana, Slovenia

    Jadran Lenarcic

  2. , Aerospace and Mechanical Engineering, University of Notre Dame, Fitzpatrick Hall 365, Notre Dame, 46556-5637, USA

    Michael M. Stanisic

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Carricato, M., Merlet, JP. (2010). Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_33

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  • DOI: https://doi.org/10.1007/978-90-481-9262-5_33

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-90-481-9261-8

  • Online ISBN: 978-90-481-9262-5

  • eBook Packages: EngineeringEngineering (R0)

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