2023
DOI: 10.3390/machines11020224
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Dynamic Launch Trajectory Planning of a Cable-Suspended Translational Parallel Robot Using Point-to-Point Motions

Abstract: In the last decade, cable-suspended parallel robots have attracted significant interest due to their large workspaces and high dynamic performances. However, a significant drawback is that cables must always be in tension to control the motion. Using launch motions to reach a target can enlarge the workspace of such robots. For a spatial translational cable robot suspended by six pairwise-parallel cables, an analytical method for planning point-to-point dynamic trajectories is proposed. Using a second-order Bé… Show more

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Cited by 3 publications
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