工作区
欠驱动
计算
运动学
计算机科学
机器人
控制理论(社会学)
有界函数
并联机械手
自由度(物理和化学)
职位(财务)
方向(向量空间)
集合(抽象数据类型)
弹道
数学
人工智能
算法
几何学
物理
程序设计语言
天文
控制(管理)
经济
数学分析
经典力学
量子力学
财务
作者
Edoardo Idá,Marco Carricato
标识
DOI:10.1016/j.mechmachtheory.2023.105551
摘要
Cable-Driven Parallel Robots (CDPRs) move an end-effector (EE) using cables arranged in a parallel fashion. If a CDPR employs fewer cables than its EE degrees of freedom (DoFs), the robot is generally underactuated and underconstrained. Consequently, only a subset of the EE DoFs can be assigned for trajectory planning purposes, and the EE pose cannot be inferred by only relying on forward kinematics. Consequently, it is not trivial to assess the robot workspace (WS), even though WS computation is of paramount importance in analyzing the robot’s performance. This paper introduces a novel algorithm for the computation of the reachable static WS of generic underactuated CDPRs, namely the set of EE positions that are statically attainable with at least one orientation and characterized by positive and bounded cable tensions. The algorithm leverages a novel geometrico-static problem, which, given a candidate EE position, seeks an orientation satisfying a stable static equilibrium characterized by a desired tension distribution.
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