On the robustness of cable configurations of suspended cable-driven parallel robots

Abstract

Cable-driven parallel robot (CDPR) are parallel robots that use coilable cables as legs. We are interested here in suspended CDPR for which there is no cable that exert a downward force on the platform. If we assume that the cables are mass-less and not elastic it has been shown that at a given pose whatever is the number m > 6 of cables there will always… (More)

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