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.
Type de document :
Communication dans un congrès
ARK: Advances in Robot Kinematics, Jun 2014, Ljubljana, Slovenia. Advances in Robot Kinematics, pp.181-191, 2014, 〈10.1007/978-3-319-06698-1_20〉
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-01221404
Contributeur : Marc Gouttefarde <>
Soumis le : mercredi 28 octobre 2015 - 00:57:20
Dernière modification le : jeudi 24 mai 2018 - 15:59:21

Identifiants

Collections

Citation

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. Advances in Robot Kinematics, pp.181-191, 2014, 〈10.1007/978-3-319-06698-1_20〉. 〈lirmm-01221404〉

Partager

Métriques

Consultations de la notice

176