Name
Abstract | ||
|---|---|---|
This paper introduces a new simplified static analysis of parallel robots driven by inextensible cables of non-negligible mass. It is based on a known hefty cable static modeling which seems to have been overlooked in previous works on parallel cable-driven robots. This cable modeling is obtained from a well-known sagging cable modeling, known as the catenary, by assuming that cable sag is relatively small. The use of the catenary has been shown to lead to a non-linear set of equations describing the kinetostatic behavior of parallel robots driven by cables of non-negligible mass. On the contrary, the proposed simplified static analysis yields a linear relationship between (components of) the forces in the cables and the external wrench applied to the robot mobile platform. As a consequence, by means of the simplified static analysis, useful wrench-based analysis and design techniques devised for parallel robots driven by massless cables can now be extended to cases in which cable mass is to be accounted for. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ICRA.2012.6225159 | 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) |
Keywords | Field | DocType |
mobile robots,mathematical model,bismuth,robots,force,parallel robot,mobile communication,static analysis | Parallel manipulator,Static analysis,Control engineering,Wrench,Engineering,Robot,Catenary,Parallel port,Mobile telephony,Mobile robot | Conference |
Volume | Issue | ISSN |
2012 | 1 | 1050-4729 |
Citations | PageRank | References |
11 | 0.78 | 10 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Marc Gouttefarde | 1 | 84 | 12.04 |
| Jean-François Collard | 2 | 247 | 21.24 |
| Nicolas Riehl | 3 | 11 | 0.78 |
| Cédric Baradat | 4 | 19 | 2.44 |