On the static workspace of large dimension cable-suspended robots with non negligible cable mass

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dc.contributor.authorRiehl, Nicolas
dc.contributor.authorGouttefarde, Marc
dc.contributor.authorPierrot, François
dc.contributor.authorBaradat, Cédric
dc.contributor.institutionTecnalia Research & Innovation
dc.date.accessioned2024-07-24T11:57:33Z
dc.date.available2024-07-24T11:57:33Z
dc.date.issued2010
dc.description.abstractIn most studies on parallel cable-driven robots, cables are supposed to be massless and inextensible. However, in the case of large dimension robots, cable mass and elasticity cannot be neglected anymore. Based on a well-known cable static model which takes these characteristics into account, the formulation of the inverse kinematics of n cable/n-DOF cable-driven robots is presented. The consequences of this modeling on the usual static workspace definition is then discussed. Notably, as the tension in a cable is not constant, the maximal tension along the cable has to be found. An example of a planar 3 cable/3-DOF robot is used to highlight that, in some particular poses, the mobile platform can be in static equilibrium while some cables are hanging below the platform. Finally, new limiting factors for the definition of the static workspace are introduced and applied to the same planar robot example which shows the significance of taking into account cable mass and elasticity.en
dc.description.statusPeer reviewed
dc.format.extent10
dc.identifier.citationRiehl , N , Gouttefarde , M , Pierrot , F & Baradat , C 2010 , On the static workspace of large dimension cable-suspended robots with non negligible cable mass . in ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 . PARTS A AND B edn , Proceedings of the ASME Design Engineering Technical Conference , no. PARTS A AND B , vol. 2 , pp. 261-270 , ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 , Montreal, QC , Canada , 15/08/10 . https://doi.org/10.1115/DETC2010-28405
dc.identifier.citationconference
dc.identifier.doi10.1115/DETC2010-28405
dc.identifier.isbn9780791844106
dc.identifier.urihttps://hdl.handle.net/11556/2745
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=80055023020&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
dc.relation.ispartofseriesProceedings of the ASME Design Engineering Technical Conference
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsModeling and Simulation
dc.subject.keywordsMechanical Engineering
dc.subject.keywordsComputer Science Applications
dc.subject.keywordsComputer Graphics and Computer-Aided Design
dc.titleOn the static workspace of large dimension cable-suspended robots with non negligible cable massen
dc.typeconference output
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