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2015 | OriginalPaper | Chapter

Workspace Analysis of Redundant Cable-Suspended Parallel Robots

Authors : Alessandro Berti, Jean-Pierre Merlet, Marco Carricato

Published in: Cable-Driven Parallel Robots

Publisher: Springer International Publishing

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Abstract

This paper focuses on cable-suspended parallel robots (CSPRs), a subclass of cable-driven parallel robots, and particularly on the analysis of their workspace. CSPRs present, among other interesting characteristics, large workspaces and high reconfigurability, which make them attractive for a large variety of applications, especially for pick and place operations over wide spaces. This paper is based on the assumption that the safest (and cheapest) control scheme for a redundant CSPR consists, at the current state of development, in actuating only 6 cables at a time. This paper shows how, under this assumption, it is still possible to take advantage of redundancy to enhance the workspace and eventually reduce the maximal tension among cables. A simple interval-analysis routine is presented as a tool for the workspace and trajectory analysis of a redundant CSPR, and the results of a case study on an existing prototype are discussed.

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previous chapter On the Improvement of Cable Collision Detection Algorithms

next chapter On the Static Stiffness of Incompletely Restrained Cable-Driven Robot

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Title: Workspace Analysis of Redundant Cable-Suspended Parallel Robots
Authors: Alessandro Berti
Jean-Pierre Merlet
Marco Carricato
Publisher: Springer International Publishing
Book: Cable-Driven Parallel Robots
Print ISBN: 978-3-319-09488-5

Electronic ISBN: 978-3-319-09489-2

Copyright Year: 2015
DOI: https://doi.org/10.1007/978-3-319-09489-2_4