Simplified static analysis of large-dimension parallel cable-driven robots
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2012
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Institute of Electrical and Electronics Engineers Inc.
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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.
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Gouttefarde , M , Collard , J F , Riehl , N & Baradat , C 2012 , Simplified static analysis of large-dimension parallel cable-driven robots . in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 . , 6225159 , Proceedings - IEEE International Conference on Robotics and Automation , Institute of Electrical and Electronics Engineers Inc. , pp. 2299-2305 , 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 , Saint Paul, MN , United States , 14/05/12 . https://doi.org/10.1109/ICRA.2012.6225159
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