A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots
A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots
- New search for: Merlet, J.-P.
- New search for: Tissot, R.
- New search for: Altuzarra, Oscar
- New search for: Kecskeméthy, Andrés
- New search for: Merlet, J.-P.
- New search for: Tissot, R.
We are considering cable-driven parallel robot (CDPR), where the legs of the robot are constituted of cables that can be independently coiled/uncoiled. We show that whatever the size of the CDPR is we may have slack cables so that using a sagging cable model that takes into account both the mass and elasticity of the cables will improve the positioning accuracy. Being able to solve the inverse and direct kinematics (IK/DK) with sagging cables is crucial for kinematic analysis while being quite complex as both IK/DK may have multiple solutions. We present a panorama of solving methods for the IK/DK with their advantages and drawbacks.
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A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
9 pages
Article/Chapter (Book)
Electronic Resource
English
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