Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots

A novel criterion is introduced in this paper to determine the set of cable tensions for Cable-Driven Parallel Robots (CDPRs) with the aim of maximizing the robot stiffness along a specific direction. Based on the feasible polygon of the CDPR and its stiffness matrix, an algorithm selects the set of admissible cable tensions leading to the smallest moving-platform displacement, the moving-platform being subject to an external wrench. The proposed tension distribution is implemented in a control scheme and experimented on a fully-constrained CDPR for a window cleaning application.

Mots clés

Cable-driven parallel robot Tension Distribution Algorithm Stiffness Control Experiments

Domaines

Génie mécanique [physics.class-ph] Automatique / Robotique

Fichier principal

ARK2020_SOTDA_FINAL.pdf (870.69 Ko)

Origine	Fichiers produits par l'(les) auteur(s)

Stéphane CARO : Connectez-vous pour contacter le contributeur

https://hal.science/hal-02515911

Soumis le : lundi 23 mars 2020-16:37:56

Dernière modification le : mardi 27 août 2024-12:51:40

Dates et versions

hal-02515911 , version 1 (23-03-2020)

Identifiants

HAL Id : hal-02515911 , version 1
DOI : 10.1007/978-3-030-50975-0_26

Citer

Etienne Picard, Stéphane Caro, Franck Plestan, Fabien Claveau. Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots. In : Lenarcic J., Siciliano B. (eds) Advances in Robot Kinematics 2020. ARK 2020. Springer Proceedings in Advanced Robotics, 15, pp.209-217, 2020, 978-3-030-50974-3. ⟨10.1007/978-3-030-50975-0_26⟩. ⟨hal-02515911⟩

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