FEM-based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging - Archive ouverte HAL Access content directly
Conference Papers Year : 2023

FEM-based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging

Abstract

Cable-Driven Parallel Robots (CDPRs) are a type of robot that is growing in popularity for different kinds of applications. However, the use of cables instead of rigid links makes the modelling of this robot a complex task, and therefore their trajectory planning and control are challenging. Assumptions such as inelastic, massless and non-sagging cables made when the CDPR is small are no longer valid when the robot becomes large. This paper presents a CDPR dynamic model taking into account cable elasticity and sagging, and its implementation within an open-source framework, named SOFA. Finally, the simulation results are compared to experiments conducted on a suspended CDPR.
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Dates and versions

hal-04037333 , version 1 (20-03-2023)

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Karim Moussa, Eulalie Coevoet, Christian Duriez, Maxime Thieffry, Fabien Claveau, et al.. FEM-based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging. CableCon 2023: 6th International Conference on Cable-Driven Parallel Robots, Jun 2023, Nantes, France. ⟨10.1007/978-3-031-32322-5_5⟩. ⟨hal-04037333⟩
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