Slackening Effects in 2D Exact Positioning in Cable-Driven Parallel Manipulators

  • Erika OttavianoEmail author
  • Andrea Arena
  • Vincenzo Gattulli
  • Francesco Potenza
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)


An analytical model of elastic cables is presented to evaluate the influence of the cables sag in the exact positioning of a point mass end-effector in a two-dimensional space within the context of cable-driven parallel manipulators. Direct and inverse kinematic problems are formulated by means of 3n nonlinear equations expressing compatibility, equilibrium, and targeting conditions. Examples with an increasing number of cables are proposed to show that, in specific regions of the workspace, solving the inverse kinematics problem implies very slack configurations of redundant cables.


cable-driven parallel robot sag cables inverse kinematics direct kinematics 


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This work was partially supported by EU Call RFCS-2017 through the research project DESDEMONA (grant agreement number 800687).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Erika Ottaviano
    • 1
    Email author
  • Andrea Arena
    • 2
  • Vincenzo Gattulli
    • 2
  • Francesco Potenza
    • 3
  1. 1.University of Cassino and Southern Lazio, Department of Civil and Mechanical EngineeringCassinoItaly
  2. 2.Sapienza University of Rome, Department of Structural and Geotechnical EngineeringRomeItaly
  3. 3.University of L’Aquila, Department of Civil Architectural and Environmental EngineeringL’AquilaItaly

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