A fast algorithm for Wrench Exertion Capability computation

Giovanni Boschetti, Chiara Passarini, Alberto Trevisani, Damiano Zanotto

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationCable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots
EditorsTobias Bruckmann, Clement Gosselin, Philippe Cardou, Andreas Pott
Pages292-303
Number of pages12
DOIs
StatePublished - 2018
Event3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017 - Quebec City, Canada
Duration: 2 Aug 20174 Aug 2017

Publication series

NameMechanisms and Machine Science
Volume53
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

Conference3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017
Country/TerritoryCanada
CityQuebec City
Period2/08/174/08/17

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