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Stability Analysis of Underconstrained Cable-Driven Parallel Robots

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2 Author(s)
Carricato, M. ; Dept. of Mech. Eng. (DIEM), Univ. of Bologna, Bologna, Italy ; Merlet, J.P.

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.

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