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

Abstract : 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.
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https://hal.archives-ouvertes.fr/hal-01616850
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Submitted on : Sunday, October 15, 2017 - 6:48:27 AM
Last modification on : Wednesday, October 27, 2021 - 4:33:02 AM
Long-term archiving on: : Tuesday, January 16, 2018 - 12:32:06 PM

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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, American Society of Mechanical Engineers, 2017, 9 (6), pp.1-14. ⟨10.1115/1.4038068⟩. ⟨hal-01616850⟩

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