Jacobian analysis of a long-span cable-driven manipulator and its application to forward solution

DOI10.1016/J.MECHMACHTHEORY.2010.05.005MaRDI QIDQ994175zbMATH OpenOpenAlexFDO

Authors Jingli Du, Hong Bao, Xuechao Duan, Chuanzhen Cui

Publication date 17 September 2010

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2010.05.005

zbMATH Keywords

JacobianNewton-Raphson methodcatenaryforward solutioncable-driven manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cites work

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• Force-closure workspace analysis of cable-driven parallel mechanisms

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(2)

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• A method of verifying force-closure condition for general cable manipulators with seven cables

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