Direct Geometrico-Static Problem of Under-Constrained Cable-Driven Parallel Robots with Three Cables

被引：37
作者：
Carricato, Marco [1 ]
Merlet, Jean-Pierre [1 ]
机构：
[1] Univ Bologna, Dept Mech Engn DIEM, Bologna, Italy
来源：
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2011年
关键词：
FREEDOM POSITIONING MECHANISM; WRENCH-FEASIBLE WORKSPACE; OF-FREEDOM; DESIGN; MANIPULATORS; KINEMATICS; GENERATION; SYSTEM; PLANAR; WIRES;
D O I：
10.1109/ICRA.2011.5979762
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies under-constrained cable-driven parallel robots with three cables. A major challenge in the study of these manipulators is the intrinsic coupling between kinematics and statics, which must be tackled simultaneously. In this contribution, a general elimination procedure is provided that solves the direct geometrico-static problem, which consists in determining the platform posture and the cable tensions when the cable lengths are assigned. The problem is proven to have up to 156 complex solutions.
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页数：7
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