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

^*Autor correspondiente de este trabajo

TECNALIA Research & Innovation

Fundación TECNALIA Research & Innovation
Université de Montpellier II

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

85 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Páginas	2193-2198
Número de páginas	6
DOI	https://doi.org/10.1109/ROBOT.2009.5152576
Estado	Publicada - 2009
Evento	2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japón Duración: 12 may 2009 → 17 may 2009

Serie de la publicación

Nombre	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (versión impresa)	1050-4729

Conferencia

Conferencia	2009 IEEE International Conference on Robotics and Automation, ICRA '09
País/Territorio	Japón
Ciudad	Kobe
Período	12/05/09 → 17/05/09

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10.1109/ROBOT.2009.5152576

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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. En 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 2193-2198). Artículo 5152576 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152576

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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. En 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, Japón, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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

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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 - https://www.scopus.com/pages/publications/70350366397

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

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

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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. En 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

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