Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model

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

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

In this paper, dynamic modeling of cable-driven parallel robots (CDPRs) is addressed where each cable length is subjected to variations during operation. It is focusing on an original formulation of cable tension, which reveals a softening behavior when strains become large. The dynamic modulus of cable elasticity is experimentally identified through Dynamic Mechanical Analysis (DMA). Numerical investigations carried out on suspended CDPRs with different sizes show the effect of the proposed tension formulation on the dynamic response of the end-effector.

Domaines: Automatique / Robotique

Sana Baklouti, Eric Courteille, Stéphane Caro, Mohamed Dkhil. Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model. Journal of Mechanisms and Robotics, 2017, 9 (6), pp.1-14. ⟨10.1115/1.4038068⟩. ⟨hal-01616850⟩