We consider wire-driven parallel robot with N 4 wires that are connected at the same point on the platform. Such robot has 3 d.o.f. but it is non-redundant (e.g. we cannot control the tension in the wires) as there will always be only at most 3 wires under tension simultaneously. We consider in this paper three approaches that make this robot really redundant: Elasticity in the wires, using counterweights in the wires or attaching the redundant wires to a fixed point on the other wires. We show that these methods may be effective but still require further studies.
CITATION STYLE
Merlet, J. P. (2012). Managing the redundancy of N—1 wire-driven parallel robots. In Latest Advances in Robot Kinematics (pp. 405–412). Springer Netherlands. https://doi.org/10.1007/978-94-007-4620-6_51
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