RT Book, Section
T1 Design and control of a redundant suspended cable-driven parallel robots
A1 Lamaury, Johann
A1 Gouttefarde, Marc
A1 Michelin, Micaël
A1 Tempier, Olivier
AB This paper introduces a six degree-of-freedom suspended parallel robot driven by eight cables. The determination of an optimal geometry of such a parallel cable robot together with the design of a prototype are briefly outlined. Then, based on usual kinematic modeling, a basic control strategy is presented. Since the parallel cable-driven robot presented here is redundantly actuated, this control strategy has to deal with the problem of cable tension distribution. This latter turns out to be challenging because of the under-constrained nature of the considered cable-driven robot. The extension to these robots of existing tension distribution methods is finally discussed.
PB Springer Netherlands
SN 9789400746190
SN 9789400746206
YR 2012
FD 2012-01-01
LK https://hdl.handle.net/11556/1617
UL https://hdl.handle.net/11556/1617
LA eng
NO Lamaury , J , Gouttefarde , M , Michelin , M & Tempier , O 2012 , Design and control of a redundant suspended cable-driven parallel robots . in Latest Advances in Robot Kinematics . Springer Netherlands , pp. 237-244 . https://doi.org/10.1007/978-94-007-4620-6_30
NO Publisher Copyright: © Springer Science+Business Media Dordrecht 2012.
DS TECNALIA Publications
RD 28 jul 2024