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Stiffness optimization of a cable driven parallel robot for additive manufacturing

D. Gueners
  • Function : Author
H. Chanal
B. Bouzgarrou
  • Function : Author

Abstract

In this paper, the optimization of the anchor points of a cable driven parallel robot (CDPR) for 3D printing is proposed in order to maximize the rigidity. Indeed, in the context of 3D printing, robot stiffness should guarantee a high level of tool path following accuracy. The optimized platform showed a rigidity improvement in simulation, but also experimentally with a first study of vibration modes. In the same time, this study illustrates the influence of preload in cables on the platform rigidity.
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Dates and versions

hal-03384988 , version 1 (19-10-2021)

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D. Gueners, H. Chanal, B. Bouzgarrou. Stiffness optimization of a cable driven parallel robot for additive manufacturing. 2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020, Paris (virtual), France. pp.843-849, ⟨10.1109/ICRA40945.2020.9197368⟩. ⟨hal-03384988⟩
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