Journal article

Available acceleration set for the study of motion capabilities for cable-driven robots

Jonathan Eden, Darwin Lau, Ying Tan, Denny Oetomo

MECHANISM AND MACHINE THEORY | PERGAMON-ELSEVIER SCIENCE LTD | Published : 2016

Abstract

The study of the ability of a cable driven robot (CDR) to generate motion between poses (motion generation capability) is important for many purposes such as motion planning and manipulator design. Existing analysis approaches that study CDR capability primarily do so by evaluating the mechanism's wrench generation abilities. Due to the nonlinear relationship between wrench and motion generation, these methods typically underestimate the true motion generation capability of a CDR and can result in conservative restrictions in operation. In this paper, two new metrics derived from the available acceleration set are proposed to better understand CDR motion generation capability. Using these me..

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