Solving the kinematics of CDPR is complex as soon as cable sagging is taken into account. We are considering here CDPRs having 2 cables whose extremities are attached at the same point on the platform (i.e. CDPRs allowing only translational motion). Regarding the cables we assume that they are non-elastic but have a mass so that they will exhibit sagging. We first show that the inverse and direct kinematics (IK and DK) amount to solve a square system of equations. We then show that these systems of equations may be reduced to solving an equation in a single variable that cannot be solved analytically but can easily be solved numerically. Using this result we show that the sagging will play a role on the result of the IK/FK only if the load mass is lower than a threshold. We then present some preliminary results regarding the case of 3 cables which is much more complex: the IK may be reduced to solving an equation in a single variable but this solving is numerically difficult. Here again it seems that sagging may be neglected if the load mass is high enough. We also present a preliminary analysis of the 3-1 case.


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    Titel :

    Efficient Kinematics of a 2-1 and 3-1 CDPR with Non-elastic Sagging Cables


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Gouttefarde, Marc (Herausgeber:in) / Bruckmann, Tobias (Herausgeber:in) / Pott, Andreas (Herausgeber:in) / Merlet, Jean-Pierre (Autor:in)

    Kongress:

    International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021



    Erscheinungsdatum :

    01.06.2021


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch