A panorama of methods for dealing with sagging cables in cable-driven parallel robots - 3IA Côte d’Azur – Interdisciplinary Institute for Artificial Intelligence Accéder directement au contenu
Communication Dans Un Congrès Année : 2022

A panorama of methods for dealing with sagging cables in cable-driven parallel robots

Résumé

We are considering cable-driven parallel robot (CDPR), where the legs of the robot are constituted of cables that can be independently coiled/uncoiled. We show that whatever the size of the CDPR is we may have slack cables so that using a sagging cable model that takes into account both the mass and elasticity of the cables will improve the positioning accuracy.Being able to solve the inverse and direct kinematics (IK/DK) with sagging cables is crucial for kinematic analysis while being quite complex as both IK/DK may have multiple solutions. We present a panorama of solving methods for the IK/DK with their advantages and drawbacks.
Fichier principal
Vignette du fichier
ark2022_v2.pdf (107.17 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03610293 , version 1 (16-03-2022)

Identifiants

  • HAL Id : hal-03610293 , version 1

Citer

Jean-Pierre Merlet, Romain Tissot. A panorama of methods for dealing with sagging cables in cable-driven parallel robots. ARK 2022 - 18th International Symposium on Advances in robots kinematics, Jun 2022, Bilbao, Spain. ⟨hal-03610293⟩
178 Consultations
148 Téléchargements

Partager

Gmail Facebook X LinkedIn More