ICRA 2011 Paper Abstract


Paper WeA202.1

Carricato, Marco (University of Bologna), Merlet, Jean-Pierre (INRIA)

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

Scheduled for presentation during the Regular Sessions "Underactuated and Tendon/Wire Mechanisms I" (WeA202), Wednesday, May 11, 2011, 10:05−10:20, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Tendon/Wire Mechanism, Underactuated Robots, Kinematics


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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