On the Design of Fully Constrained Parallel Cable-Driven Robots

Marc Gouttefarde 1 Sébastien Krut 1 Olivier Company 1 François Pierrot 1 Nacim Ramdani 2
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This work deals with the design of parallel cable-driven robots having more cables than degrees of freedom (DOF). Compared to parallel robots with rigid links, this issue has a distinctive property: the requirement of keeping the cables taut. In this paper, it is shown how numerical tools, recently introduced elsewhere, can be used to solve the important practical problem of finding geometries of robots such that a given prescribed workspace is fully included in the wrench-feasible workspace. Then, in order to improve the solving procedure of this problem, it is shown that another workspace is of interest: the wrench-closure workspace. Some of its relationships with the wrench-feasible workspace are highlighted.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00322375
Contributor : Marc Gouttefarde <>
Submitted on : Wednesday, September 17, 2008 - 3:23:18 PM
Last modification on : Monday, December 17, 2018 - 10:50:04 AM

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Marc Gouttefarde, Sébastien Krut, Olivier Company, François Pierrot, Nacim Ramdani. On the Design of Fully Constrained Parallel Cable-Driven Robots. Advances in Robots Kinematics: Analysis and Design, Jun 2008, Batz-sur-Mer, France. pp.71-78. ⟨lirmm-00322375⟩

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