STABILITY ANALYSIS OF AN UNDERCONSTRAIND CABLE ROBOT IN 3-DIMENSION SPACE

Stability Analysis of an underconstrained cable robot in the 3-dimension space for a path of an underconstrained cable robot is computed. But compute of stability for a cable robot can be very difficult. In order to compute this analysis define a measure for 2-dimension space, then we extending this measure to 3-dimension space. In order to the set of twists that the end-effector can undergo is camputed. With wrenches that force in end-effector we can be campute the twists of end-effector. In this measure we definition of slope for mixed-dimensional twists because is then derived using an energy-based approach to generalize measure. An example is worked out for a sample manipulator and the stability measure is used to define a measure of overall manipulator stability

کلیدواژه ها:

Stability Analysis ، Spatial stability measure ، Cable robots