RT Conference Proceedings
T1 On the static workspace of large dimension cable-suspended robots with non negligible cable mass
A1 Riehl, Nicolas
A1 Gouttefarde, Marc
A1 Pierrot, François
A1 Baradat, Cédric
AB In 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.
SN 9780791844106
YR 2010
FD 2010
LK https://hdl.handle.net/11556/2745
UL https://hdl.handle.net/11556/2745
LA eng
NO Riehl , 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
NO conference
DS TECNALIA Publications
RD 28 jul 2024