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

Sana Baklouti (1, 2) , Stéphane Caro (3, 4, 5) , Eric Courteille (2)

1 UBL - Université Bretagne Loire
2 LGCGM - Laboratoire de Génie Civil et Génie Mécanique
3 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
4 CNRS - Centre National de la Recherche Scientifique
5 LS2N - Laboratoire des Sciences du Numérique de Nantes

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: Reconfigurable; Parallel robots; Mechanical errors; Moving platform; Geometrical modeling; External loads; Uncertainty analysis; Robots; Geometry; Static deflections; Sensitivity analysis; Robust modeling; Cables; Error analysis

Domains: Engineering Sciences [physics]; Civil Engineering; Engineering Sciences [physics]; Mechanics [physics.med-ph]; Mechanical engineering [physics.class-ph]

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⟩