Modeling a Planar Point Mass Sagged Cable-Suspended Manipulator

Abstract

This paper deals with the kinetostatic model for a planar point mass cable-driven parallel manipulator when the cable elasticity and configuration have been fully taken into account. An exact model solution for the statics is obtained by consider elastic hefty cables. The proposed formulation allows considering specific behavior of cables for large dimensions cable-suspended robots in which the cable mass and its effect cannot be neglected. Simulation results and experimental tests are presented for planar point mass cable-suspended manipulator.