Title :
Stability Analysis of Underconstrained Cable-Driven Parallel Robots
Author :
Carricato, Marco ; Merlet, J.P.
Author_Institution :
Dept. of Mech. Eng. (DIEM), Univ. of Bologna, Bologna, Italy
Abstract :
This paper studies cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, and the stability of static equilibrium is assessed within the framework of a constrained optimization problem. The method relies on ordinary linear-algebra routines, and it may be very simply applied to the most general architectures. Several examples are provided, concerning robots with a number of cables that range from 2 to 4.
Keywords :
end effectors; geometry; linear algebra; optimisation; stability; constrained optimization problem; crane configuration; geometrico-static model; ordinary linear-algebra routines; stability analysis; static equilibrium; underconstrained cable-driven parallel robots; Bismuth; Equations; Force; Robot kinematics; Stability analysis; Vectors; Cable-driven parallel robots (CDPRs); kinematic analysis; stability analysis; static analysis; underconstrained robots;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2012.2217795
