This paper studies underconstrained cable-driven parallel robots (CDPRs) with three cables. A major challenge in the study of these robots is the intrinsic coupling between kinematics and statics, which must be tackled simultaneously. Effective elimination procedures are presented which provide the complete solution sets of the inverse geometrico-static problems (IGPs) with assigned orientation or position. In the former case, the platform orientation is given, whereas the platform position and the cable lengths and tensions must be computed. In the latter case, the platform position is known, whereas the platform orientation and the cable lengths and tensions are to be calculated. The described problems are proven to admit at the most 1 and 24 real solutions, respectively.
Inverse Geometrico-Static Problem of Underconstrained Cable-Driven Parallel Robots With Three Cables1
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 24, 2012; final manuscript received April 17, 2013; published online June 10, 2013. Assoc. Editor: Vijay Kumar.
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Carricato, M. (June 24, 2013). "Inverse Geometrico-Static Problem of Underconstrained Cable-Driven Parallel Robots With Three Cables." ASME. J. Mechanisms Robotics. August 2013; 5(3): 031002. https://doi.org/10.1115/1.4024291
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