Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2019

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

Lionel Birglen
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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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Dates and versions

lirmm-02309355 , version 1 (09-10-2019)

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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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