Static Analysis of Planar 3-DOF Cable-Suspended Parallel Robots Carrying a Serial Manipulator - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2016

Static Analysis of Planar 3-DOF Cable-Suspended Parallel Robots Carrying a Serial Manipulator

Abstract

This paper deals with the static analysis of a robotic system consisting of a planar 3-degree-of-freedom cable-suspended parallel robot having a 3-degree-of-freedom serial manipulator on-board its mobile platform. A static equilibrium of this system is said to be feasible when the cable tensions lie within a prescribed set of admissible values. It is shown that a static equilibrium is feasible when the horizontal coordinate of the overall center of mass lies within an interval. A method to compute the bounds of this interval is presented.
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lirmm-01830277 , version 1 (04-07-2018)

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Marc Gouttefarde. Static Analysis of Planar 3-DOF Cable-Suspended Parallel Robots Carrying a Serial Manipulator. EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.363-371, ⟨10.1007/978-3-319-44156-6_37⟩. ⟨lirmm-01830277⟩
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