Cable-driven parallel robots manipulating heavy payloads typically use cables having non-negligible diameters and mass. The associated cable guiding pulleys may then have non-negligible radii whose influence on the robot kinematics can hardly be neglected. This chapter focuses on the output pulleys from which the cables extend to the robot mobile platform. A kinetostatic analysis of cable-driven parallel robots considering both cable mass and output pulleys is presented.
CITATION STYLE
Gouttefarde, M., Nguyen, D. Q., & Baradat, C. (2014). Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys. In Advances in Robot Kinematics (pp. 213–221). Springer International Publishing. https://doi.org/10.1007/978-3-319-06698-1_23
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