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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Submitted on : Wednesday, April 4, 2018 - 11:44:29 AM
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Sana Baklouti, Stéphane Caro, Eric Courteille. Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots. Gosselin C.; Cardou P.; Bruckmann T.; Pott A. Cable-Driven Parallel Robots, 53, pp.37-49, 2018, 978-3-319-61431-1. ⟨10.1007/978-3-319-61431-1_4⟩. ⟨hal-01758178⟩

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