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

Marc Gouttefarde 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
Document type :
Conference papers
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-01830277
Contributor : Marc Gouttefarde <>
Submitted on : Wednesday, July 4, 2018 - 6:33:14 PM
Last modification on : Monday, December 17, 2018 - 10:50:04 AM

Identifiers

Collections

Citation

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⟩

Share

Metrics

Record views

64