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Practical Stability of Under-Constrained Cable-Suspended Parallel Robots

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Cable-Driven Parallel Robots (CableCon 2019)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 74))

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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.

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Author information

Authors and Affiliations

  1. Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin, Department Robotics and Automation, Pascalstr. 8-9, 10587, Berlin, Germany

    Dragoljub Surdilovic & Jelena Radojicic

Authors
  1. Dragoljub Surdilovic
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  2. Jelena Radojicic
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Corresponding author

Correspondence to Dragoljub Surdilovic .

Editor information

Editors and Affiliations

  1. University of Stuttgart, Stuttgart, Germany

    Andreas Pott

  2. Universität Duisburg-Essen, Duisburg, Germany

    Tobias Bruckmann

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Surdilovic, D., Radojicic, J. (2019). Practical Stability of Under-Constrained Cable-Suspended Parallel Robots. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham. https://doi.org/10.1007/978-3-030-20751-9_8

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