RT Conference Proceedings
T1 Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms
A1 Riehl, Nicolas
A1 Gouttefarde, Marc
A1 Krut, Sébastien
A1 Baradat, Cédric
A1 Pierrot, François
AB Cable-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.
SN 9781424427895
SN 1050-4729
YR 2009
FD 2009
LK https://hdl.handle.net/11556/1690
UL https://hdl.handle.net/11556/1690
LA eng
NO Riehl , 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
NO conference
DS TECNALIA Publications
RD 28 jul 2024