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Practical Stability of Under-Constrained Cable-Suspended Parallel Robots

  • Dragoljub SurdilovicEmail author
  • Jelena Radojicic
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)

Abstract

This paper, motivated by the development of a novel gait rehabilitation system, presents a mechanical approach for the dynamic modelling and analysis of equilibrium stability of under-constrained cable suspended parallel robots. These types of cable robots exhibit interesting characteristics of self-motion in the Jacobian null-space. Modelling and understanding of this motion is essential for their applications. It is demonstrated that both a wrench consistency test and proof of stability conditions, derived for real robots with a pulley mechanism, play a crucial role for practical equilibrium stability assessment. Thereby dynamic simulation of the null-space motion help to analyse robustness of the equilibrium against perturbations. Several examples with a 4-4 type robots illustrate the theoretical analysis.

Keywords

cable-driven parallel robots under-constrained cable suspended structures equilibrium stability analysis gait rehabilitation 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin, Department Robotics and AutomationBerlinGermany

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