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Book Sections Year : 2022

Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot

Abstract

The subject of this paper is about the relationship between the stiffness and the transparency of Cable-Driven Parallel Robots (CDPRs) used as human-machine interfaces in object comanipulation tasks. An index quantifying the transparency of a CDPR is first introduced. The stiffness of the robot is determined in simulation which parameters have been experimentally identified. Particular attention is paid to the effect of the Moving-Platform pose and cable tension management on CDPR stiffness. Then, the relationship between the stiffness and the transparency is analysed. Finally, the transparency index is traced throughout the constant-orientation static workspace and throughout the cable tension feasibility polygon for a given MP pose.
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Dates and versions

hal-03758215 , version 1 (23-08-2022)

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Marceau Métillon, Camilo Charron, Kévin Subrin, Stéphane Caro. Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot. Advances in Robot Kinematics 2022, 24, Springer International Publishing, pp.101-109, 2022, Springer Proceedings in Advanced Robotics, ⟨10.1007/978-3-031-08140-8_12⟩. ⟨hal-03758215⟩
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