Advertisement
Published in:
2009 | OriginalPaper | Chapter
Closed-form Force Distribution for Parallel Wire Robots
Authors : Andreas Pott, Tobias Bruckmann, Lars Mikelsons
Published in: Computational Kinematics
Publisher: Springer Berlin Heidelberg
Activate our intelligent search to find suitable subject content or patents.
Select sections of text to find matching patents with Artificial Intelligence. powered by
Select sections of text to find additional relevant content using AI-assisted search. powered by
This paper presents an algorithm to determine feasible force distributions for parallel wire robots in closed-form. The force distributions are continuous along trajectories and differentiable at most of the points. The computational efforts are strictly bounded and small even for large numbers of wires. The algorithm is compared to other approaches for calculation of force distribution in terms of the numerical effort and their applicability for control purposes.