DGP-Solver Homepage
DGP-Solver solves the Direct Geometrico-Static Problem (DGP) of Cable Driven Parallel Robots (CDPRs) suspended by n cables, with n≤6. The software finds all equilibrium configuration of the end-effector when the cable lengths are assigned. The problem is challenging, since loop-closure and mechanical-equilibrium equations must be solved simultaneously.
Authors: Ghasem Abbasnejad <ghasem.abbasnejad2@unibo.it> and Marco Carricato <marco.carricato@unibo.it>.
Key features:
· The program computes all equilibrium configurations of the robot when cable lengths are assigned and the platform is acted upon by an arbitrary constant force.
· Cables are modeled as massless and inextensible.
· All possible equilibrium configurations, with and without slack cables, in both complex and real fields, are computed, and those that guarantee nonnegative tension in all cables are isolated.
· Equilibrium stability is assessed.
· The program is composed in Python.
· Input and output files are provided in text format.
· Homotopy continuation is adopted to solve the polynomial equations governing the problem. In this version, Bertini is used as continuation-based computation engine.
· Parallel computing is supported.
· The program is distributed free of charge on an ‘as is’ basis with no warranties, implied or otherwise, that it is suitable for any purpose. Its intended usage is mainly educational.
Download links:
· Download Page of Version 1.0 for Windows (March, 2013 )
· Download Page of Version 1.0 for Linux (March, 2013 )
· Documentation on installation and use.
· Examples
Acknowledgements:
· We are deeply indebted to the authors of Bertini for generously granting us the possibility of using their code.