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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.
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https://hal-univ-rennes1.archives-ouvertes.fr/hal-01619371
Contributor : Laurent Jonchère <>
Submitted on : Wednesday, December 11, 2019 - 4:26:04 PM
Last modification on : Wednesday, June 24, 2020 - 4:19:41 PM
Long-term archiving on: : Thursday, March 12, 2020 - 9:33:00 PM

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  • HAL Id : hal-01619371, version 1

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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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