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.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00737544
Contributor : Marc Gouttefarde <>
Submitted on : Tuesday, October 2, 2012 - 10:26:52 AM
Last modification on : Monday, December 17, 2018 - 10:50:04 AM

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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⟩

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