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Conference papers
Sensitivity analysis of the elasto-geometrical model of cable-driven parallel robots
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.
Cited literature [21 references]
https://hal-univ-rennes1.archives-ouvertes.fr/hal-01619371
Contributor : Laurent Jonchère Connect in order to contact the contributor
Submitted on : Wednesday, December 11, 2019 - 4:26:04 PM
Last modification on : Wednesday, January 19, 2022 - 3:48:25 PM
Long-term archiving on: : Thursday, March 12, 2020 - 9:33:00 PM
Contributor : Laurent Jonchère Connect in order to contact the contributor
Submitted on : Wednesday, December 11, 2019 - 4:26:04 PM
Last modification on : Wednesday, January 19, 2022 - 3:48:25 PM
Long-term archiving on: : Thursday, March 12, 2020 - 9:33:00 PM
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Sensitivity Analysis of the El...
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