TY - GEN
T1 - Motion analysis of an underconstrained cable suspended mobile robot
AU - Capua, Alon
AU - Shapiro, Amir
AU - Shoval, Shraga
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77951450940&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.5420574
DO - 10.1109/ROBIO.2009.5420574
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AN - SCOPUS:77951450940
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 788
EP - 793
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -