Elasto-Static Model for Point Mass Sagged Cable-Suspended Robots

Abstract

In this paper, a model is presented for the elasto-static problem of planar point mass robots suspended by m-cables. In particular, each cable configuration is described by an elastic catenary and static equations and compatibility conditions for the system are given, thus the 2m force reaction unknowns can be evaluated. The proposed formulation has been used to solve the direct problem and it is suitable for investigating the influence of elastic catenary on the end-effector exact positioning. The model allows evaluating the relation between end-effector position and the involvement of each cable in sustaining the payload.