Solving the Direct Geometrico-Static Problem of 3-3 Cable-Driven Parallel Robots by Interval Analysis: Preliminary Results

none3siDate of Publication: September 2012 at www.springer.com/engineering/robotics/book/978-3-642-31987-7.This paper studies the direct geometrico-static analysis of under-constrained cable-driven parallel robots with 3 cables. The task consists in finding all equilibrium configurations of the end-effector when the cable lengths are assigned. An interval-analysis-based procedure is proposed to numerically find the real solutions of the problem for a robot of generic geometry. Three equation sets obtained by different approaches are implemented in the problem-solving algorithm and a comparison between the main merits and drawbacks of each one of them is reported.openBerti A.; Merlet J.-P.; Carricato M.Berti A.; Merlet J.-P.; Carricato M