Paper Info
Title
On The Simplifications Of Cable Model In Static Analysis Of Large-Dimension Cable-Driven Parallel Robots
Abstract
This paper addresses the simplification of cable model in static analysis of large-dimension cable-driven parallel robots (CDPR). An approach to derive a simplified hefty cable model is presented. The approach provides an insight into the limitation of such a simplification. The resulting cable tension computation is then used to solve the inverse kinematic problem of CDPR. A new expression of cable length taking into account both the non-negligible cable mass and elasticity is also introduced. Finally, simulations and experiments on a large CDPR prototype are provided. The results show that taking into account both cable mass and elasticity improves the robot accuracy.
Year
Venue
Keywords
2013
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
elasticity,robot kinematics
Field
DocType
ISSN
Parallel manipulator,Kinematics,Simulation,Computer science,Static analysis,Robot kinematics,Control engineering,Robot,Elasticity (economics),Computation,Payload
Conference
2153-0858
Citations 
PageRank 
References 
3
0.49
7
Authors
4
Name
Order
Citations
PageRank
Dinh Quan Nguyen1101.73
Marc Gouttefarde28412.04
Olivier Company317827.03
F. Pierrot447992.02