ICRA'09 Paper Abstract


Paper FrB8.4

Riehl, Nicolas (LIRMM), Gouttefarde, Marc (Lirmm), Krut, Sebastien (LIRMM (CNRS & Université Montpellier 2)), Baradat, Cédric (Fondation Fatronik), Pierrot, François (CNRS - LIRMM)

Effects of Non-Negligible Cable Mass on the Static Behavior of Large Workspace Cable-Driven Parallel Mechanisms

Scheduled for presentation during the Regular Sessions "Parallel Robots - II" (FrB8), Friday, May 15, 2009, 11:30−11:50, Room: 406

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Parallel Robots, Kinematics, Mechanism Design


Cable-driven robots are currently extensively studied. Generally, for this type of manipulators, cables are considered to be massless and inextensible. But for large working volume applications, their mass cannot be neglected. Based on a well-known model which describes the profile of a cable under the action of its own weight, the inverse and forward kinematics of minimally constrained cable-driven manipulators can be numerically computed. This paper studies the effects of taking cable mass into account by comparison to classical massless cable model. It highlights the real effects of such a model on cable lengths to reach a given position. The effects on cable tensions are also studied.



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