{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,11,19]],"date-time":"2024-11-19T17:30:31Z","timestamp":1732037431016},"reference-count":27,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2018,3,27]],"date-time":"2018-03-27T00:00:00Z","timestamp":1522108800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"Although cable driven robots are a type of parallel manipulators, the evaluation of their performances cannot be carried out using the performance indices already developed for parallel robots with rigid links. This is an obvious consequence of the peculiar features of flexible cables\u2014a cable can only exert a tensile and limited force in the direction of the cable itself. A comprehensive performance evaluation can certainly be attained by computing the maximum force (or torque) that can be exerted by the cables on the moving platform along a specific (or any) direction within the whole workspace. This is the idea behind the index\u2014called the Wrench Exertion Capability (WEC)\u2014which can be employed to evaluate the performance of any cable robot topology and is characterized by an efficient and simple formulation based on linear programming. By significantly improving a preliminary computation method for the WEC, this paper proposes an ultimate formulation suitable for any cable robot topology. Several numerical investigations on planar and spatial cable robots are presented to give evidence of the WEC usefulness, comparisons with popular performance indices are also provided.<\/jats:p>","DOI":"10.3390\/robotics7020015","type":"journal-article","created":{"date-parts":[[2018,3,27]],"date-time":"2018-03-27T16:17:24Z","timestamp":1522167444000},"page":"15","source":"Crossref","is-referenced-by-count":26,"title":["Cable Robot Performance Evaluation by Wrench Exertion Capability"],"prefix":"10.3390","volume":"7","author":[{"ORCID":"http:\/\/orcid.org\/0000-0003-2452-221X","authenticated-orcid":false,"given":"Giovanni","family":"Boschetti","sequence":"first","affiliation":[{"name":"Department of Management and Engineering, Universit\u00e0 degli Studi di Padova, 36100 Vicenza, Italy"}]},{"given":"Alberto","family":"Trevisani","sequence":"additional","affiliation":[{"name":"Department of Management and Engineering, Universit\u00e0 degli Studi di Padova, 36100 Vicenza, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2018,3,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"709","DOI":"10.1002\/rob.4620100509","article-title":"The NIST ROBOCRANE","volume":"10","author":"Albus","year":"1993","journal-title":"J. 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