In most studies on parallel cable-driven robots, cables are supposed to be massless and inextensible. However, in the case of large dimension robots, cable mass and elasticity cannot be neglected anymore. Based on a well-known cable static model which takes these characteristics into account, the formulation of the inverse kinematics of n cable/n-DOF cable-driven robots is presented. The consequences of this modeling on the usual static workspace definition is then discussed. Notably, as the tension in a cable is not constant, the maximal tension along the cable has to be found. An example of a planar 3 cable/3-DOF robot is used to highlight that, in some particular poses, the mobile platform can be in static equilibrium while some cables are hanging below the platform. Finally, new limiting factors for the definition of the static workspace are introduced and applied to the same planar robot example which shows the significance of taking into account cable mass and elasticity.
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ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 15–18, 2010
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4410-6
PROCEEDINGS PAPER
On the Static Workspace of Large Dimension Cable-Suspended Robots With Non Negligible Cable Mass
Nicolas Riehl,
Nicolas Riehl
Fatronik France Tecnalia, Montpellier, France
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Marc Gouttefarde,
Marc Gouttefarde
University of Montpellier 2, Montpellier, France
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Franc¸ois Pierrot,
Franc¸ois Pierrot
University of Montpellier 2, Montpellier, France
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Ce´dric Baradat
Ce´dric Baradat
Fatronik France Tecnalia, Montpellier, France
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Nicolas Riehl
Fatronik France Tecnalia, Montpellier, France
Marc Gouttefarde
University of Montpellier 2, Montpellier, France
Franc¸ois Pierrot
University of Montpellier 2, Montpellier, France
Ce´dric Baradat
Fatronik France Tecnalia, Montpellier, France
Paper No:
DETC2010-28405, pp. 261-270; 10 pages
Published Online:
March 8, 2011
Citation
Riehl, N, Gouttefarde, M, Pierrot, F, & Baradat, C. "On the Static Workspace of Large Dimension Cable-Suspended Robots With Non Negligible Cable Mass." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 261-270. ASME. https://doi.org/10.1115/DETC2010-28405
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