On the Static Workspace of Large Dimension Cable-Suspended Robots with Non Negligible Cable Mass

@inproceedings{Riehl2010OnTS,
  title={On the Static Workspace of Large Dimension Cable-Suspended Robots with Non Negligible Cable Mass},
  author={Nicolas Riehl and Marc Gouttefarde and François Pierrot and C{\'e}dric Baradat},
  year={2010}
}
In most studies on parallel cable-driven robots, cables are supposed to be massless and inextensible. However, in the case of large dimension robots, cable mass and elasticity cannot be neglected anymore. Based on a well-known cable static model which takes these characteristics into account, the formulation of the inverse kinematics of n cable/n-DOF cable-driven robots is presented. The consequences of this modeling on the usual static workspace definition is then discussed. Notably, as the… CONTINUE READING

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