TY - GEN
T1 - On the static workspace of large dimension cable-suspended robots with non negligible cable mass
AU - Riehl, Nicolas
AU - Gouttefarde, Marc
AU - Pierrot, François
AU - Baradat, Cédric
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=80055023020&partnerID=8YFLogxK
U2 - 10.1115/DETC2010-28405
DO - 10.1115/DETC2010-28405
M3 - Conference contribution
AN - SCOPUS:80055023020
SN - 9780791844106
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 261
EP - 270
BT - ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
T2 - ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
Y2 - 15 August 2010 through 18 August 2010
ER -