The large workspace of cable-driven parallel robots is one of their key benefits. Experiments have shown that in practice the reachable workspace is often smaller than the theoretically predicted one. To improve the workspace computation, a new forward kinematic code, which considers the previously neglected effects of cable sagging and pulleys, is introduced. For an exemplary robot with eight cables, the new forward kinematic predicts a \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$18.5\%$$\end{document} smaller workspace and a \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$27.8\%$$\end{document} lower platform stiffness than the standard geometric model.
The findings of this work show the importance of considering the effects of cable sagging and pulleys in the workspace computation and kinematic codes, especially for large cable-driven parallel robots.
A Forward Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020
2020-07-18
8 pages
Article/Chapter (Book)
Electronic Resource
English
FEM-Based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging
Springer Verlag | 2023
|A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots
Springer Verlag | 2022
|The Forward Kinematics of the 4-1 Cable-Driven Parallel Robot with Non Elastic Sagging Cables
Springer Verlag | 2020
|