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Closed-form force distribution for parallel wire robots

: Pott, Andreas; Bruckmann, Tobias; Mikelsons, Lars


Kecskeméthy, A. ; International Federation for the Promotion of Mechanism and Machine Science:
Computational kinematics. 5th International Workshop on Computational Kinematics 2009. Proceedings : May 6-8, 2009, Duisburg
Berlin: Springer, 2009
ISBN: 978-3-642-01946-3
ISBN: 978-3-642-01947-0
International Workshop on Computational Kinematics <5, 2009, Duisburg>
Fraunhofer IPA ()
Arbeitsraum; Echtzeit; Seilroboter; Seilkraftverteilung; real-time system; wire robot; Steuerung; Roboter; Robotersteuerung

This paper presents an algorithm to determine feasible force distributions for parallel wire robots in closed-form. The force distributions are continuous along trajectories and differentiable at most of the points. The computational efforts are strictly bounded and small even for large numbers of wires. The algorithm is compared to other approaches for calculation of force distribution in terms of the numerical effort and their applicability for control purposes.