TY - GEN
T1 - A fast algorithm for Wrench Exertion Capability computation
AU - Boschetti, Giovanni
AU - Passarini, Chiara
AU - Trevisani, Alberto
AU - Zanotto, Damiano
N1 - Publisher Copyright:
© Springer International Publishing AG 2018.
PY - 2018
Y1 - 2018
N2 - Computational efficiency is a critical issue in most real time applications. In general, non-iterative computational algorithms are less demanding than iterative ones. This paper proposes a new geometry-based algorithm to determine the maximum force or moment a cable driven parallel manipulator can exert in a given direction. A method to find a feasible set of cable tensions corresponding to the desired maximum wrench is also presented, and the proposed approach is validated using three illustrative examples. These algorithms show promise for applications requiring real-time planning.
AB - Computational efficiency is a critical issue in most real time applications. In general, non-iterative computational algorithms are less demanding than iterative ones. This paper proposes a new geometry-based algorithm to determine the maximum force or moment a cable driven parallel manipulator can exert in a given direction. A method to find a feasible set of cable tensions corresponding to the desired maximum wrench is also presented, and the proposed approach is validated using three illustrative examples. These algorithms show promise for applications requiring real-time planning.
UR - http://www.scopus.com/inward/record.url?scp=85025835621&partnerID=8YFLogxK
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U2 - 10.1007/978-3-319-61431-1_25
DO - 10.1007/978-3-319-61431-1_25
M3 - Conference contribution
AN - SCOPUS:85025835621
SN - 9783319614304
T3 - Mechanisms and Machine Science
SP - 292
EP - 303
BT - Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots
A2 - Bruckmann, Tobias
A2 - Gosselin, Clement
A2 - Cardou, Philippe
A2 - Pott, Andreas
T2 - 3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017
Y2 - 2 August 2017 through 4 August 2017
ER -