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

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Advances in Robot Kinematics 2016

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 4))

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.

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Author information

Authors and Affiliations

  1. DICeM University of Cassino, Via Di Biasio 43, 03043, Cassino (Fr), Italy

    Erika Ottaviano

  2. DICEAA - University of L’Aquila, Piazzale Pontieri, 1, 67040, Monteluco di Roio (AQ), Italy

    Vincenzo Gattulli & Francesco Potenza

Authors
  1. Erika Ottaviano
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  2. Vincenzo Gattulli
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  3. Francesco Potenza
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Corresponding author

Correspondence to Erika Ottaviano .

Editor information

Editors and Affiliations

  1. Jožef Stefan Institute , Ljubljana-Vic-Rudnik, Slovenia

    Jadran Lenarčič

  2. INRIA Sophia Antipolis , Sophia Antipolis Cedex, France

    Jean-Pierre Merlet

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Ottaviano, E., Gattulli, V., Potenza, F. (2018). Elasto-Static Model for Point Mass Sagged Cable-Suspended Robots. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_37

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  • DOI: https://doi.org/10.1007/978-3-319-56802-7_37

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-56801-0

  • Online ISBN: 978-3-319-56802-7

  • eBook Packages: EngineeringEngineering (R0)

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