RT Conference Proceedings
T1 On the determination of cable characteristics for large dimension cable-driven parallel mechanisms
A1 Riehl, Nicolas
A1 Gouttefarde, Marc
A1 Baradat, Cédric
A1 Pierrot, François
AB Generally, the cables of a parallel cable-driven robot are considered to be massless and inextensible. These two characteristics cannot be neglected anymore for large dimension mechanisms in order to obtain good positioning accuracy. A well-known model which describes the profile of a cable under the action of its own weight allows us to take mass and elasticity into account. When designing a robot, and choosing actuator and cable characteristics, a calculation of maximal tension has to be done. However, because cable mass has a significant effect on cable tensions, a model including cable mass has to be included in the design step. This paper proposes two methods to determine the appropriate cable and hence the maximal tensions in the cables. Applied to a large dimension robot, taking cable mass into account is proved to be necessary in comparison with an equivalent method based on the massless cable modeling. In this paper, only moving platform static equilibria are considered (slow enough motions).
SN 9781424450381
SN 1050-4729
YR 2010
FD 2010
LK https://hdl.handle.net/11556/1889
UL https://hdl.handle.net/11556/1889
LA eng
NO Riehl , N , Gouttefarde , M , Baradat , C & Pierrot , F 2010 , On the determination of cable characteristics for large dimension cable-driven parallel mechanisms . in 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 . , 5509887 , Proceedings - IEEE International Conference on Robotics and Automation , pp. 4709-4714 , 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 , Anchorage, AK , United States , 3/05/10 . https://doi.org/10.1109/ROBOT.2010.5509887
NO conference
DS TECNALIA Publications
RD 28 jul 2024