Solving the Direct Geometrico-Static Problem of 3-3 Cable-Driven Parallel Robots by an Interval Analysis Based Algorithm

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. The main characteristics of the algorithm are here discussed and some examples are proposed