In this paper, dynamic modeling of cable-driven parallel robots (CDPRs) is addressed where each cable length is subjected to variations during operation. It is focusing on an original formulation of cable tension, which reveals a softening behavior when strains become large. The dynamic modulus of cable elasticity is experimentally identified through dynamic mechanical analysis (DMA). Numerical investigations carried out on suspended CDPRs with different sizes show the effect of the proposed tension formulation on the dynamic response of the end-effector.
Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model
INSA de Rennes,
Laboratoire de Génie Civil et Génie Mécanique
(LGCGM) - EA 3913,
20, avenue des Buttes de Cöesmes,
Rennes Cedex 35043, France
Manuscript received February 3, 2016; final manuscript received September 22, 2017; published online October 12, 2017. Assoc. Editor: K. H. Low.
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Baklouti, S., Courteille, E., Caro, S., and Dkhil, M. (October 12, 2017). "Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model." ASME. J. Mechanisms Robotics. December 2017; 9(6): 061014. https://doi.org/10.1115/1.4038068
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