Modeling a planar point mass sagged cable-suspended manipulator

Rea P.
2015-01-01

Abstract

This paper deals with the kinetostatic model for a planar point mass cable-driven parallel manipulator when the cable elasticity and configuration have been fully taken into account. An exact model solution for the statics is obtained by consider elastic hefty cables. The proposed formulation allows considering specific behavior of cables for large dimensions cable-suspended robots in which the cable mass and its effect cannot be neglected. Simulation results and experimental tests are presented for planar point mass cable-suspended manipulator.
2015
Inglese
2015 IFToMM World Congress Proceedings, IFToMM 2015
National Taiwan University
6
2-s2.0-85018943005
14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015
Esperti anonimi
2015
twn
internazionale
scientifica
Cable robot1
Experiments
Kinetostatics
Sagged cables
no
4 Contributo in Atti di Convegno (Proceeding)::4.1 Contributo in Atti di convegno
Ottaviano, E.; Gattulli, V.; Potenza, F.; Rea, P.
273
4
4.1 Contributo in Atti di convegno
none
info:eu-repo/semantics/conferencePaper
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