Design and Control of a Redundant Suspended Cable-Driven Parallel Robots

Abstract : This paper introduces a six degree-of-freedom suspended parallel robot driven by eight cables. The determination of an optimal geometry of such a parallel cable robot together with the design of a prototype are briefly outlined. Then, based on usual kinematic modeling, a basic control strategy is presented. Since the parallel cable-driven robot presented here is redundantly actuated, this control strategy has to deal with the problem of cable tension distribution. This latter turns out to be challenging because of the under-constrained nature of the considered cabledriven robot. The extension to these robots of existing tension distribution methods is finally discussed.
Type de document :
Communication dans un congrès
Latest Advances in Robots Kinematics, Austria. Springer, pp.237-244, 2012
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00737551
Contributeur : Marc Gouttefarde <>
Soumis le : mardi 2 octobre 2012 - 10:36:52
Dernière modification le : jeudi 11 janvier 2018 - 06:26:07

Identifiants

  • HAL Id : lirmm-00737551, version 1

Collections

Citation

Johann Lamaury, Marc Gouttefarde, Micaël Michelin, Olivier Tempier. Design and Control of a Redundant Suspended Cable-Driven Parallel Robots. Latest Advances in Robots Kinematics, Austria. Springer, pp.237-244, 2012. 〈lirmm-00737551〉

Partager

Métriques

Consultations de la notice

133