. In this paper issues such as cable mass, elasticity and the effect of uncertainties in cable connections are investigated for the modelling and further workspace generation of cable-based parallel manipulators. The geometric representation of uncertainties in the attachments points of cables to the base are developed together with suitable model for the cable. A planar two-cable point-mass suspended robot is considered as Case of Study for developing a model and numerical results are compared with those experimental obtained by a suitable laboratory test-bed.
Issues on the Modelling of Cable-Based Parallel Manipulators
OTTAVIANO, Erika;CASTELLI, Gianni
2011-01-01
Abstract
. In this paper issues such as cable mass, elasticity and the effect of uncertainties in cable connections are investigated for the modelling and further workspace generation of cable-based parallel manipulators. The geometric representation of uncertainties in the attachments points of cables to the base are developed together with suitable model for the cable. A planar two-cable point-mass suspended robot is considered as Case of Study for developing a model and numerical results are compared with those experimental obtained by a suitable laboratory test-bed.File in questo prodotto:
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