Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization

Dinh Quan Nguyen (1) , Marc Gouttefarde (1)

1 DEXTER - Robotique médicale et mécanismes parallèles

In this paper, several issues of the stiffness matrix of a general 6-DOF Cable-Driven Parallel Robot (CDPR) are addressed. First, the stiffness matrix of a CDPR with hefty cable is derived analytically. Then, a homogenization of this stiffness matrix is introduced. The discussion on this procedure gives an intuitive meaning of the stiffness matrix of the CDPR and its homogeneous form. This analysis can be used to solve a set of CDPR design problems.

Mots clés: Cable-driven parallel robots; Stiffness; Homogenization

Domaines: Automatique / Robotique

Dinh Quan Nguyen, Marc Gouttefarde. Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization. Advances in Robot Kinematics, pp.181-191, 2014, 978-3-319-06698-1. ⟨10.1007/978-3-319-06698-1_20⟩. ⟨lirmm-01221404⟩