Motion analysis of an underconstrained cable suspended mobile robot

Alon Capua, Amir Shapiro, Shraga Shoval

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

11 Scopus citations

Abstract

This paper presents a novel design of a mobile underconstrained cable suspended robot. The paper deals with the kinematics, statics, motion planning and the design of an underconstrained cable suspended robot. The robot consists of four cable mechanisms and a central body. Each cable mechanism includes a thin cable with a simple gripper at the end, and a dispensing and rolling mechanism. The robot dispenses the cables towards possible grasping points in the surroundings, and then pulls the cables simultaneously in a coordinated manner. Depending on the geometry of the grasping points and the coordinated pulling, the robot can perform stable motion, over curved surfaces or around and over obstacles. We present simulations as well as experimental results performed on a prototype model.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages788-793
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China
Duration: 19 Dec 200923 Dec 2009

Publication series

Name2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Conference

Conference2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/TerritoryChina
CityGuilin
Period19/12/0923/12/09

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