Effects of Non-Negligible Cable Mass on the Static Behavior of Large Workspace Cable-Driven Parallel Mechanisms

Nicolas Riehl 1, 2 Marc Gouttefarde 3 Sébastien Krut 3 Cédric Baradat 2 François Pierrot 3
1 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 Fatronik
3 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Cable-driven robots are currently extensively studied. Generally, for this type of manipulators, cables are considered to be massless and inextensible. But for large working volume applications, their mass cannot be neglected. Based on a well-known model which describes the profile of a cable under the action of its own weight, the inverse and forward kinematics of minimally constrained cable-driven manipulators can be numerically computed. This paper studies the effects of taking cable mass into account by comparison to classical massless cable model. It highlights the real effects of such a model on cable lengths to reach a given position. The effects on cable tensions are also studied.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00397805
Contributor : Marc Gouttefarde <>
Submitted on : Tuesday, June 23, 2009 - 12:15:13 PM
Last modification on : Monday, December 17, 2018 - 10:50:04 AM

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DEXTER | LIRMM | TDS-MACS | MIPS | UNIV-MONTPELLIER

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Nicolas Riehl, Marc Gouttefarde, Sébastien Krut, Cédric Baradat, François Pierrot. Effects of Non-Negligible Cable Mass on the Static Behavior of Large Workspace Cable-Driven Parallel Mechanisms. ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. IEEE, pp.2193-2198, 2009, 〈10.1109/ROBOT.2009.5152576〉. 〈lirmm-00397805〉

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