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Stability Analysis of Underconstrained Cable-Driven Parallel Robots
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DOI：10.1109/TRO.2012.2217795.png)
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Abstract
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This paper studies cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, and the stability of static equilibrium is assessed within the framework of a constrained optimization problem. The method relies on ordinary linear-algebra routines, and it may be very simply applied to the most general architectures. Several examples are provided, concerning robots with a number of cables that range from 2 to 4.
Keywords:
Cable-driven parallel robots (CDPRs)
kinematic analysis
stability analysis
static analysis
underconstrained robots
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