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Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots

Lionel Birglen 1 Marc Gouttefarde 2 
2 DEXTER - Robotique médicale et mécanismes parallèles
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Planar 2-degree-of-freedom (DOF) 3-differential Cable-Driven Parallel Robots (CDPRs) consist of a point-mass end-effector driven by a number of cables. Each cable is divided into four segments, three of them being connected to the point-mass end-effector by means of routing pulleys. This paper deals with the stiffness analysis of such planar 2-DOF 3-differential CDPRs. Based on the usual linear spring cable elongation model, the expression of the stiffness matrix is derived. The stiffness and workspace of several examples of planar 2-DOF 3-differential CDPRs are then compared. The results of these comparisons illustrate that the stiffness of planar CDPRs can be significantly improved by means of pulley differentials.
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Submitted on : Wednesday, October 9, 2019 - 11:16:37 AM
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Lionel Birglen, Marc Gouttefarde. Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots. CableCon 2019 : 4th International Conference on Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.61-71, ⟨10.1007/978-3-030-20751-9_6⟩. ⟨lirmm-02309355⟩



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