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

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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.
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Dates and versions

hal-01619371 , version 1 (11-12-2019)

Identifiers

  • HAL Id : hal-01619371 , version 1

Cite

Sana Baklouti, Stéphane Caro, Eric 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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