Lorenzo Gagliardini

A reconfiguration strategy for Reconfigurable Cable-Driven Parallel Robots

This paper deals with Reconfigurable Cable-Driven Parallel Robots (RCDPRs). A RCDPR is able to change the locations of its cable exit points, the latter being defined as the connection points between the cables and the robot base frame. Given a RCDPR, a set of possible reconfigurations, a desired pl…