Workspace analysis of cable-suspended robots with elastic cable

Abstract

This paper presents a kinematics and workspace analysis of cable-suspended manipulators with elastic cable. The mechanics of extensible cable with a deflection to its self-weight are studied. The problem of evaluating the workspace is approached by using a modified formulation for a deformable cable. The proposed algorithm for testing whether a given configuration lies within the reachable workspace is applied. Starting with a general statement of the kinetic equations of the elastic cable and incorporate cable flexibility into workspace generation. This algorithm is verified through simulation results of various cable-suspended robots.

DOI: 10.1109/ROBIO.2007.4522464

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Cite this paper

@article{Korayem2007WorkspaceAO, title={Workspace analysis of cable-suspended robots with elastic cable}, author={Moharam Habibnejad Korayem and Mahdi Bamdad and M. Saadat}, journal={2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)}, year={2007}, pages={1942-1947} }