Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms

Nicolas Riehl; Marc Gouttefarde; Sébastien Krut; Cédric Baradat; François Pierrot

doi:10.1109/ROBOT.2009.5152576

Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms

Nicolas Riehl^*, Marc Gouttefarde, Sébastien Krut, Cédric Baradat, François Pierrot

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

83 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages	2193-2198
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2009.5152576
Publication status	Published - 2009
Event	2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Duration: 12 May 2009 → 17 May 2009

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/Territory	Japan
City	Kobe
Period	12/05/09 → 17/05/09

Access to Document

10.1109/ROBOT.2009.5152576

Cite this

Riehl, N., Gouttefarde, M., Krut, S., Baradat, C., & Pierrot, F. (2009). Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 2193-2198). Article 5152576 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152576

@inproceedings{1d0e13a6457e4d098c86914528d15583,

title = "Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms",

abstract = "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.",

author = "Nicolas Riehl and Marc Gouttefarde and S{\'e}bastien Krut and C{\'e}dric Baradat and Fran{\c c}ois Pierrot",

year = "2009",

doi = "10.1109/ROBOT.2009.5152576",

language = "English",

isbn = "9781424427895",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "2193--2198",

booktitle = "2009 IEEE International Conference on Robotics and Automation, ICRA '09",

note = "2009 IEEE International Conference on Robotics and Automation, ICRA '09 ; Conference date: 12-05-2009 Through 17-05-2009",

}

Riehl, N, Gouttefarde, M, Krut, S, Baradat, C & Pierrot, F 2009, Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms. in 2009 IEEE International Conference on Robotics and Automation, ICRA '09., 5152576, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2193-2198, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 12/05/09. https://doi.org/10.1109/ROBOT.2009.5152576

Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms. / Riehl, Nicolas; Gouttefarde, Marc; Krut, Sébastien et al.
2009 IEEE International Conference on Robotics and Automation, ICRA '09. 2009. p. 2193-2198 5152576 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms

AU - Riehl, Nicolas

AU - Gouttefarde, Marc

AU - Krut, Sébastien

AU - Baradat, Cédric

AU - Pierrot, François

PY - 2009

Y1 - 2009

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=70350366397&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2009.5152576

DO - 10.1109/ROBOT.2009.5152576

M3 - Conference contribution

AN - SCOPUS:70350366397

SN - 9781424427895

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 2193

EP - 2198

BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

Y2 - 12 May 2009 through 17 May 2009

ER -

Riehl N, Gouttefarde M, Krut S, Baradat C, Pierrot F. Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09. 2009. p. 2193-2198. 5152576. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2009.5152576

Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this