Simplified Static Analysis of Large-Dimension Parallel Cable-Driven Robots - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2012

Simplified Static Analysis of Large-Dimension Parallel Cable-Driven Robots

Abstract

This paper introduces a new simplified static analysis of parallel robots driven by inextensible cables of non-negligible mass. It is based on a known hefty cable static modeling which seems to have been overlooked in previous works on parallel cable-driven robots. This cable modeling is obtained from a well-known sagging cable modeling, known as the catenary, by assuming that cable sag is relatively small. The use of the catenary has been shown to lead to a nonlinear set of equations describing the kinetostatic behavior of parallel robots driven by cables of non-negligible mass. On the contrary, the proposed simplified static analysis yields a linear relationship between (components of) the forces in the cables and the external wrench applied to the robot mobile platform. As a consequence, by means of the simplified static analysis, useful wrench-based analysis and design techniques devised for parallel robots driven by massless cables can now be extended to cases in which cable mass is to be accounted for.

Domains

Automatic
No file

Dates and versions

lirmm-00737544 , version 1 (02-10-2012)

Identifiers

Cite

Marc Gouttefarde, Jean-François Collard, Nicolas Riehl, Cédric Baradat. Simplified Static Analysis of Large-Dimension Parallel Cable-Driven Robots. ICRA: International Conference on Robotics and Automation, 2012, Saint Paul, MN, United States. pp.2299-2305, ⟨10.1109/ICRA.2012.6225159⟩. ⟨lirmm-00737544⟩
137 View
0 Download

Altmetric

Share

Gmail Facebook X LinkedIn More