Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model

In this paper, dynamic modeling of cable-driven parallel robots (CDPRs) is addressed where each cable length is subjected to variations during operation. It is focusing on an original formulation of cable tension, which reveals a softening behavior when strains become large. The dynamic modulus of cable elasticity is experimentally identified through Dynamic Mechanical Analysis (DMA). Numerical investigations carried out on suspended CDPRs with different sizes show the effect of the proposed tension formulation on the dynamic response of the end-effector.

Domaines

Automatique / Robotique

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ASME_JMR_Baklouti_Courteille_Caro_Dkhil.pdf (3.87 Mo)

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Stéphane CARO : Connectez-vous pour contacter le contributeur

https://hal.science/hal-01616850

Soumis le : dimanche 15 octobre 2017-06:48:27

Dernière modification le : jeudi 17 octobre 2024-10:14:04

Archivage à long terme le : mardi 16 janvier 2018-12:32:06

Dates et versions

hal-01616850 , version 1 (15-10-2017)

Identifiants

HAL Id : hal-01616850 , version 1
DOI : 10.1115/1.4038068

Citer

Sana Baklouti, Eric Courteille, Stéphane Caro, Mohamed Dkhil. Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model. Journal of Mechanisms and Robotics, 2017, 9 (6), pp.1-14. ⟨10.1115/1.4038068⟩. ⟨hal-01616850⟩

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