Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots

Sana Baklouti (1) , Stéphane Caro (2) , Eric Courteille (1)

1 LGCGM - Laboratoire de Génie Civil et Génie Mécanique
2 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services

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.

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

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⟩