Simplified static analysis of large-dimension parallel cable-driven robots

This paper introduces a new simplified static analysis of parallel robots driven by inextensible cables of non-negligible mass. It is based on a known hefty cable static modeling which seems to have been overlooked in previous works on parallel cable-driven robots. This cable modeling is obtained fr...

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Bibliographic Details
Published in2012 IEEE International Conference on Robotics and Automation pp. 2299 - 2305
Main Authors Gouttefarde, M., Collard, J., Riehl, N., Baradat, C.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2012
Subjects
Bismuth
Equations
Force
Mathematical model
Mobile communication
Power cables
Robots
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Summary:This paper introduces a new simplified static analysis of parallel robots driven by inextensible cables of non-negligible mass. It is based on a known hefty cable static modeling which seems to have been overlooked in previous works on parallel cable-driven robots. This cable modeling is obtained from a well-known sagging cable modeling, known as the catenary, by assuming that cable sag is relatively small. The use of the catenary has been shown to lead to a non-linear set of equations describing the kinetostatic behavior of parallel robots driven by cables of non-negligible mass. On the contrary, the proposed simplified static analysis yields a linear relationship between (components of) the forces in the cables and the external wrench applied to the robot mobile platform. As a consequence, by means of the simplified static analysis, useful wrench-based analysis and design techniques devised for parallel robots driven by massless cables can now be extended to cases in which cable mass is to be accounted for.
ISBN:9781467314039
146731403X
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2012.6225159