RT Conference Proceedings
T1 Simplified static analysis of large-dimension parallel cable-driven robots
A1 Gouttefarde, Marc
A1 Collard, Jean François
A1 Riehl, Nicolas
A1 Baradat, Cédric
AB 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.
PB Institute of Electrical and Electronics Engineers Inc.
SN 9781467314039
SN 1050-4729
YR 2012
FD 2012
LK https://hdl.handle.net/11556/1543
UL https://hdl.handle.net/11556/1543
LA eng
NO 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
NO conference
DS TECNALIA Publications
RD 28 jul 2024