To expand the workspace of Cable-Driven Parallel Robots (CDPRs), researchers have proposed to allow cable wrapping on the base, the end-effector, or obstacles in recent years. However, the statics of a cable wrapping on a surface and necessary conditions for paths of a cable wrapping on a surface have not been fully uncovered in studies of CDPRs. To this end, this paper analyses the statics of a cable wrapping on a surface and the conditions of a cable wrapping on a frictionless surface in equilibrium. Based on the assumption that a cable is in equilibrium in statics, the necessary conditions of a path of a cable wrapping on a frictionless surface are proposed. By solving the necessary conditions, the kinematics of a CDPR with cables wrapping on surfaces can be determined. A case study of a CDPR with cables warping on cylinders is provided to demonstrate the kinematics of the CDPR.


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    Title :

    Statics and Path of the Cables of a Cable-Driven Parallel Robot Wrapping on Surfaces


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

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



    Publication date :

    2023-06-03


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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