Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Book Sections Year : 2014

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

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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lirmm-01221403 , version 1 (28-10-2015)

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