ICRA 2012 Paper Abstract

Close

Paper WeB01.2

Gouttefarde, Marc (LIRMM), Collard, Jean-François (Laboratoire d'Informatique, de Robotique et de Microélectronique), Riehl, Nicolas (LIRMM), Baradat, Cédric (Fondation Tecnalia)

Simplified Static Analysis of Large-Dimension Parallel Cable-Driven Robots

Scheduled for presentation during the Regular Session "Parallel Robots" (WeB01), Wednesday, May 16, 2012, 10:45−11:00, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Parallel Robots, Kinematics, Tendon/Wire Mechanism

Abstract

This paper introduces a new simplified static analysis of parallel robots driven by inextensible cables of non-negligible mass. It is based on a known hefty cable static modeling which seems to have been overlooked in previous works on parallel cable-driven robots. This cable modeling is obtained from a well-known sagging cable modeling, known as the catenary, by assuming that cable sag is relatively small. The use of the catenary has been shown to lead to a non-linear set of equations describing the kinetostatic behavior of parallel robots driven by cables of non-negligible mass. On the contrary, the proposed simplified static analysis yields a linear relationship between (components of) the forces in the cables and the external wrench applied to the robot mobile platform. As a consequence, by means of the simplified static analysis, useful wrench-based analysis and design techniques devised for parallel robots driven by massless cables can now be extended to cases in which cable mass is to be accounted for.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2017 PaperCept, Inc.
Page generated 2017-10-24  00:26:57 PST  Terms of use