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.
引用
收藏
页数：7
相关论文
共 50 条
  • [31] CHARACTERIZATIONS OF FULLY CONSTRAINED POSES OF PARALLEL CABLE-DRIVEN ROBOTS: A REVIEW
    Gouttefarde, Marc
    DETC 2008: 32ND ANNUAL MECHANISMS AND ROBOTICS CONFERENCE, VOL. 2, PTS A & B, 2009, : 21 - 30
  • [32] On the inverse kinematics of cable-driven parallel robots with up to 6 sagging cables
    Merlet, Jean-Pierre
    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015, : 4356 - 4361
  • [33] Sliding-Mode Control of Cable-Driven Parallel Robots with Elastic Cables
    Bak, Jeong-Hyeon
    Yoon, Jong Hyun
    Hwang, Sung Wook
    Park, Jong Hyeon
    2016 16TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2016, : 1057 - 1060
  • [34] Equilibrium Configuration Analysis and Equilibrium-Based Trajectory Generation Method for Under-Constrained Cable-Driven Parallel Robot
    Hwang, Sung Wook
    Ha Kim, Deok
    Park, Jaehwan
    Park, Jong Hyeon
    IEEE ACCESS, 2022, 10 : 112134 - 112149
  • [35] Non-Iterative Positive Constrained Control of Cable-Driven Parallel Robots
    Ameri, Adel
    Fazeli, S. Mahdi
    Molaei, Amir
    Khosravi, Mohammad A.
    Hassani, Masoud
    IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2024, 20 (02) : 2007 - 2016
  • [36] A computational framework for the dynamic analyses of cable-driven parallel robots with feed and retrieval of cables
    Mamidi, Teja Krishna
    Bandyopadhyay, Sandipan
    MECHANISM AND MACHINE THEORY, 2023, 186
  • [37] Dynamic modeling and characterization of compliant cable-driven parallel robots containing flexible cables
    Peng, Miaojiao
    Xiao, Longhai
    Chen, Qinglin
    Wei, Guowu
    Lin, Qi
    Zhuo, Jiayong
    ROBOTICA, 2023, 41 (10) : 3160 - 3174
  • [38] Simplified Static Analysis of Large-Dimension Parallel Cable-Driven Robots
    Gouttefarde, Marc
    Collard, Jean-Francois
    Riehl, Nicolas
    Baradat, Cedric
    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2012, : 2299 - 2305
  • [39] On the Simplifications of Cable Model in Static Analysis of Large-Dimension Cable-Driven Parallel Robots
    Dinh Quan Nguyen
    Gouttefarde, Marc
    Company, Olivier
    Pierrot, Francois
    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2013, : 928 - 934
  • [40] Using artificial neural network for forward kinematic problem of under-constrained cable robots
    Heidari, Mohammad
    Faritus, Seyed Mohammad Reza
    Shateyi, Stanford
    JOURNAL OF VIBROENGINEERING, 2018, 20 (01) : 385 - 400
12345