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Stability Analysis of Underconstrained Cable-Driven Parallel Robots

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2 Author(s)
Marco Carricato ; Department of Mechanical Engineering (DIEM) and the Center for Health Sciences and Technologies (HST-ICIR), University of Bologna, 40136 Bologna, Italy ; Jean-Pierre Merlet

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.

Published in:

IEEE Transactions on Robotics  (Volume:29 ,  Issue: 1 )