Cable-driven parallel robots (CDPRs) have the potential of being the go-to rapidly deployable and reconfigurable robots. This is because cables are used instead of rigid links and thus the overall robot architecture can consist of only four masts, eight motors and very long cables actuating the moving-platform. This paper introduces a large deployable CDPR called ROCASPECT. Its accuracy and repeatability have been evaluated according to ISO 9283:1998. Moreover, the effect of modeling errors and mast compliance on the CDPR accuracy and repeatability is studied. Despite modeling issues, accuracy of 5 cm and repeatability of 1 cm were obtained for the deployable CDPR of size 23.3 m  × \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\times $$\end{document} 19.0 m  × \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\times $$\end{document} 4.0 m.


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    Titel :

    Elasto-Static Model and Accuracy Analysis of a Large Deployable Cable-Driven Parallel Robot


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Caro, Stéphane (Herausgeber:in) / Pott, Andreas (Herausgeber:in) / Bruckmann, Tobias (Herausgeber:in) / Zaķe, Zane (Autor:in) / Pedemonte, Nicolò (Autor:in) / Moriniere, Boris (Autor:in) / Suarez Roos, Adolfo (Autor:in) / Caro, Stéphane (Autor:in)

    Kongress:

    International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023


    Erschienen in:

    Cable-Driven Parallel Robots ; Kapitel : 31 ; 381-393


    Erscheinungsdatum :

    2023-06-03


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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