Static and dynamic stiffness analyses of cable-driven parallel robots with non-negligible cable mass and elasticity

Han Yuan , Eric Courteille (1) , Dominique Deblaise (1)

1 LGCGM - Laboratoire de Génie Civil et Génie Mécanique

This paper focuses on the stiffness analysis of cable-driven parallel robots (CDPRs), including thestatic stiffness and the dynamic stiffness analyses. Static and dynamic cablemodels are introducedconsidering the effect of both cable mass and elasticity. Based on these models, the static stiffnessof CDPRs is evaluated by the variation of the end-effector pose error, and the dynamic stiffness ofCDPRs is analyzed by identifying the robot natural frequencies. Simulations and experiments aremade on a 6-DOF prototype to validate the theoretical models. Comparison with other methodsavailable in literature is presented. Results show the important effect of cable mass and elasticityon the static and dynamic stiffness of CDPRs.

Mots clés: Cable-driven parallel robot Sagging cable model Static stiffness Dynamic stiffness Vibration

Domaines: Robotique [cs.RO]

Han Yuan, Eric Courteille, Dominique Deblaise. Static and dynamic stiffness analyses of cable-driven parallel robots with non-negligible cable mass and elasticity. Mechanism and Machine Theory, 2015, 85 (85), pp.64-81. ⟨10.1016/j.mechmachtheory.2014.10.010⟩. ⟨hal-01127965⟩