Abstract
Methodologies for investigating the effect of wire/actuator failures on the wrench capability of wire-actuated parallel manipulators are presented that result in minimum norm solution for the correctional wire tension and overall tension vectors. A planar manipulator is simulated to illustrate the proposed methodologies.
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© 2013 CISM, Udine
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Notash, L. (2013). Wrench Recovery for Wire-Actuated Parallel Manipulators. In: Padois, V., Bidaud, P., Khatib, O. (eds) Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 544. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1379-0_25
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DOI: https://doi.org/10.1007/978-3-7091-1379-0_25
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-1378-3
Online ISBN: 978-3-7091-1379-0
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