FEM-based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging
Résumé
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 Assumptions such as inelastic, massless and non-sagging cables made when the CDPR is small are no longer valid when the robot becomes large.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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[MCDTCCC23]_FEM-bas_dyn_mod_CDPR_elast_sag_CableCon2023_preprint.pdf (2.19 Mo)
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