3 accepted papers
Workspace calculation for cable-driven parallel robot (CDPR) differs from the one for robots with rigid legs as the main limiting factor is the satisfaction of the mechanical equilibrium, being given a model for the cable behavior. We are considering here 6-dof CDPR with n ≥ 6 cables and are investi
We consider in this paper cable driven parallel robot (CDPR) with m catenary cables that present a significant deformation due to their elasticity and own mass and we address the inverse kinematics (IK) of such a robot i.e. determining the lengths at rest of the cables for a given pose of the platfo…
We consider in this paper cable driven parallel robot (CDPR) with m catenary cables that present a significant deformation due to their elasticity and own mass and we address the kinematics of such a robot under the assumption of static state. We show that the inverse kinematics (IK) requires to sol…