On the Simplifications of Cable Model in Static Analysis of Large-Dimension Cable-Driven Parallel Robots

Dinh Quan Nguyen (1) , Marc Gouttefarde (1) , Olivier Company (1) , François Pierrot (1)

1 DEXTER - Robotique médicale et mécanismes parallèles

This paper addresses the simplification of cable model in static analysis of large-dimension cable-driven parallel robots (CDPR). An approach to derive a simplified hefty cable model is presented. The approach provides an insight into the limitation of such a simplification. The resulting cable tension computation is then used to solve the inverse kinematic problem of CDPR. A new expression of cable length taking into account both the non-negligible cable mass and elasticity is also introduced. Finally, simulations and experiments on a large CDPR prototype are provided. The results show that taking into account both cable mass and elasticity improves the robot accuracy.

Mots clés: Force; Mobile communication; Payloads; Elasticity; Robots; Power cables

Domaines: Automatique / Robotique

Dinh Quan Nguyen, Marc Gouttefarde, Olivier Company, François Pierrot. On the Simplifications of Cable Model in Static Analysis of Large-Dimension Cable-Driven Parallel Robots. IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.928-934, ⟨10.1109/IROS.2013.6696461⟩. ⟨lirmm-01221398⟩