Sensitivity analysis of the elasto-geometrical model of cable-driven parallel robots

S. Baklouti 1, 2 S. Caro 3, 4 E. Courteille 1, 2
1 UBL - Université Bretagne Loire
2 LGCGM - Laboratoire de Génie Civil et Génie Mécanique
3 LS2N - Laboratoire des Sciences du Numérique de Nantes
4 RoMas - Robots and Machines for Manufacturing, Society and Services
LS2N - Laboratoire des Sciences du Numérique de Nantes
Abstract : This paper deals with the sensitivity analysis of the elasto-geometrical model of Cable-Driven Parallel Robots (CDPRs) to their geometric and mechanical uncertainties. This sensitivity analysis is crucial in order to come up with a robust model-based control of CDPRs. Here, 62 geometrical and mechanical error sources are considered to investigate their effect onto the static deflection of the moving-platform (MP) under an external load. A reconfigurable CDPR, named “CAROCA”, is analyzed as a case of study to highlight the main uncertainties affecting the static deflection of its MP.
Keywords : Error analysis Cables Robust modeling Sensitivity analysis Static deflections Geometry Robots Uncertainty analysis External loads Geometrical modeling Mechanical errors Moving platform Parallel robots Reconfigurable
Document type :
Conference papers
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https://hal-univ-rennes1.archives-ouvertes.fr/hal-01619371
Contributor : Laurent Jonchère <>
Submitted on : Thursday, October 19, 2017 - 1:06:44 PM
Last modification on : Friday, April 19, 2019 - 9:36:02 AM

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  • HAL Id : hal-01619371, version 1

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UNIV-RENNES1 | LGCGM | EC-NANTES | UNAM | UNIV-NANTES | LS2N | LS2N-ROMAS | UNIV-RENNES | LGCGM-INSA | INSA-RENNES | INSA-GROUPE

Citation

S. Baklouti, S. Caro, E. Courteille. Sensitivity analysis of the elasto-geometrical model of cable-driven parallel robots. 3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017, Aug 2017, Quebec City, Canada. ⟨hal-01619371⟩

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