Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms

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dc.contributor.authorRiehl, Nicolas
dc.contributor.authorGouttefarde, Marc
dc.contributor.authorKrut, Sébastien
dc.contributor.authorBaradat, Cédric
dc.contributor.authorPierrot, François
dc.contributor.institutionTecnalia Research & Innovation
dc.date.accessioned2024-07-24T11:47:41Z
dc.date.available2024-07-24T11:47:41Z
dc.date.issued2009
dc.description.abstractCable-driven robots are currently extensively studied. Generally, for this type of manipulators, cables are considered to be massless and inextensible. But for large working volume applications, their mass cannot be neglected. Based on a well-known model which describes the profile of a cable under the action of its own weight, the inverse and forward kinematics of minimally constrained cable-driven manipulators can be numerically computed. This paper studies the effects of taking cable mass into account by comparison to classical massless cable model. It highlights the real effects of such a model on cable lengths to reach a given position. The effects on cable tensions are also studied.en
dc.description.statusPeer reviewed
dc.format.extent6
dc.identifier.citationRiehl , N , Gouttefarde , M , Krut , S , Baradat , C & Pierrot , F 2009 , Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms . in 2009 IEEE International Conference on Robotics and Automation, ICRA '09 . , 5152576 , Proceedings - IEEE International Conference on Robotics and Automation , pp. 2193-2198 , 2009 IEEE International Conference on Robotics and Automation, ICRA '09 , Kobe , Japan , 12/05/09 . https://doi.org/10.1109/ROBOT.2009.5152576
dc.identifier.citationconference
dc.identifier.doi10.1109/ROBOT.2009.5152576
dc.identifier.isbn9781424427895
dc.identifier.issn1050-4729
dc.identifier.urihttps://hdl.handle.net/11556/1690
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=70350366397&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartof2009 IEEE International Conference on Robotics and Automation, ICRA '09
dc.relation.ispartofseriesProceedings - IEEE International Conference on Robotics and Automation
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsSoftware
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsArtificial Intelligence
dc.subject.keywordsElectrical and Electronic Engineering
dc.titleEffects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanismsen
dc.typeconference output
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