Gouttefarde, MarcCollard, Jean FrançoisRiehl, NicolasBaradat, Cédric2024-07-242024-07-242012Gouttefarde , 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.2012.6225159conference97814673140391050-4729https://hdl.handle.net/11556/1543This 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.7enginfo:eu-repo/semantics/restrictedAccessconference output10.1109/ICRA.2012.6225159SoftwareControl and Systems EngineeringElectrical and Electronic EngineeringArtificial Intelligencehttp://www.scopus.com/inward/record.url?scp=84864430269&partnerID=8YFLogxK