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The Direct Kinematics of Objects Suspended From Cables

[+] Author Affiliations
Qimi Jiang, Vijay Kumar

University of Pennsylvania, Philadelphia, PA

Paper No. DETC2010-28036, pp. 193-202; 10 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


This work addresses the problem for determining the position and orientation of an object with regular polygon suspended from n cables with the same length when the n robots form a regular polygon on the horizontal plane. First, an analytic algorithm based on resultant elimination is presented to determine all possible equilibrium configurations of the planar 4-bar linkage. As the nonlinear system can be reduced to a polynomial equation in one unknown with a degree 8, this algorithm is more efficient than numerical search algorithms. Then, considering that the motion of the 3D cable system in its vertical planes of symmetry can be regarded as the motion of an equivalent planar 4-bar linkage, the proposed algorithm is used to solve the direct kinematic problem of objects suspended from multiple cables. Then, case studies with three to six cables are conducted for demonstration. Finally, experiments are conducted for validation.

Copyright © 2010 by ASME
Topics: Kinematics , Cables



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