This work addresses the problem for determining the position and orientation of an object with regular polygon suspended from n cables with the same length when the n robots form a regular polygon on the horizontal plane. First, an analytic algorithm based on resultant elimination is presented to determine all possible equilibrium configurations of the planar 4-bar linkage. As the nonlinear system can be reduced to a polynomial equation in one unknown with a degree 8, this algorithm is more efficient than numerical search algorithms. Then, considering that the motion of the 3D cable system in its vertical planes of symmetry can be regarded as the motion of an equivalent planar 4-bar linkage, the proposed algorithm is used to solve the direct kinematic problem of objects suspended from multiple cables. Then, case studies with three to six cables are conducted for demonstration. Finally, experiments are conducted for validation.
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ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 15–18, 2010
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4410-6
PROCEEDINGS PAPER
The Direct Kinematics of Objects Suspended From Cables
Qimi Jiang,
Qimi Jiang
University of Pennsylvania, Philadelphia, PA
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Vijay Kumar
Vijay Kumar
University of Pennsylvania, Philadelphia, PA
Search for other works by this author on:
Qimi Jiang
University of Pennsylvania, Philadelphia, PA
Vijay Kumar
University of Pennsylvania, Philadelphia, PA
Paper No:
DETC2010-28036, pp. 193-202; 10 pages
Published Online:
March 8, 2011
Citation
Jiang, Q, & Kumar, V. "The Direct Kinematics of Objects Suspended From Cables." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 193-202. ASME. https://doi.org/10.1115/DETC2010-28036
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