On the Simplifications of Cable Model in Static Analysis of Large-Dimension Cable-Driven Parallel Robots - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier
Communication Dans Un Congrès Année : 2013

On the Simplifications of Cable Model in Static Analysis of Large-Dimension Cable-Driven Parallel Robots

Résumé

This paper addresses the simplification of cable model in static analysis of large-dimension cable-driven parallel robots (CDPR). An approach to derive a simplified hefty cable model is presented. The approach provides an insight into the limitation of such a simplification. The resulting cable tension computation is then used to solve the inverse kinematic problem of CDPR. A new expression of cable length taking into account both the non-negligible cable mass and elasticity is also introduced. Finally, simulations and experiments on a large CDPR prototype are provided. The results show that taking into account both cable mass and elasticity improves the robot accuracy.
Fichier principal
Vignette du fichier
0865.pdf (344.31 Ko) Télécharger le fichier
Origine Fichiers éditeurs autorisés sur une archive ouverte
Loading...

Dates et versions

lirmm-01221398 , version 1 (28-10-2015)

Identifiants

Citer

Dinh Quan Nguyen, Marc Gouttefarde, Olivier Company, François Pierrot. On the Simplifications of Cable Model in Static Analysis of Large-Dimension Cable-Driven Parallel Robots. IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.928-934, ⟨10.1109/IROS.2013.6696461⟩. ⟨lirmm-01221398⟩
266 Consultations
1020 Téléchargements

Altmetric

Partager

More