Abstract
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.
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Merlet, JP. (2012). Managing the Redundancy of N−1 Wire-Driven Parallel Robots. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_51
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DOI: https://doi.org/10.1007/978-94-007-4620-6_51
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-4619-0
Online ISBN: 978-94-007-4620-6
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