Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Algebraic Tension Conditions in Cable-Driven Mechanisms
Submission Author:
Thaís Muraro , SC , Brazil
Co-Authors:
Daniel Martins, Leonardo Sacht, Thaís Muraro
Presenter: Thaís Muraro
doi://10.26678/ABCM.COBEM2017.COB17-1285
Abstract
The cable-driven parallel mechanisms have an important feature regarding the tension forces in the cables, because the cables can only pull and can not push the end effector. Because of this cable tensions must always be positive. Thus, the tensions on cables should be evaluated and, then, restricted. This is done by using the Davies method for the statics and by solveing the linear equations system through the null space of the matrix.
Keywords
Cable-driven, Tension conditions, Davies method, Linear equations, Null space
