Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization

Dinh Quan Nguyen 1 Marc Gouttefarde 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this paper, several issues of the stiffness matrix of a general 6-DOF Cable-Driven Parallel Robot (CDPR) are addressed. First, the stiffness matrix of a CDPR with hefty cable is derived analytically. Then, a homogenization of this stiffness matrix is introduced. The discussion on this procedure gives an intuitive meaning of the stiffness matrix of the CDPR and its homogeneous form. This analysis can be used to solve a set of CDPR design problems.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01221404
Contributor : Marc Gouttefarde <>
Submitted on : Wednesday, October 28, 2015 - 12:57:20 AM
Last modification on : Monday, December 17, 2018 - 10:50:04 AM

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Dinh Quan Nguyen, Marc Gouttefarde. Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization. ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. pp.181-191, ⟨10.1007/978-3-319-06698-1_20⟩. ⟨lirmm-01221404⟩

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