Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys

Marc Gouttefarde 1 Dinh Quan Nguyen 1 Cédric Baradat 2
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Cable-driven parallel robots manipulating heavy payloads typically use cables having non-negligible diameters and mass. The associated cable guiding pulleys may then have non-negligible radii whose influence on the robot kinematics can hardly be neglected. This paper focuses on the output pulleys from which the cables extend to the robot mobile platform. A kinetostatic analysis of cable-driven parallel robots considering both cable mass and output pulleys is presented.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01221403
Contributor : Marc Gouttefarde <>
Submitted on : Wednesday, October 28, 2015 - 12:53:03 AM
Last modification on : Monday, December 17, 2018 - 10:50:04 AM

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Marc Gouttefarde, Dinh Quan Nguyen, Cédric Baradat. Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys. ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.213-221, ⟨10.1007/978-3-319-06698-1_23⟩. ⟨lirmm-01221403⟩

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