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Communication Dans Un Congrès Année : 2024

Towards Solving Cable-Driven Parallel Robot Inaccuracy due to Cable Elasticity

Résumé

Cable elasticity can significantly impact the accuracy of Cable-Driven Parallel Robots (CDPRs). However, it’s frequently disregarded as negligible in CDPR simulations and designs. In this paper, we propose a numerical approach, referred to as SEECR, which is designed to estimate the behavior of a CDPR featuring elastic cables while ensuring the Static Equilibrium (SE) of the Moving-Platform (MP). By modeling the cables as elastic springs, the proposed approach correctly predicts which cables become slack, estimates the tension distribution among cables and computes unwanted MP motions, allowing to predict the impact of design choices. The results have been validated experimentally on two cable types and configurations.
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Dates et versions

hal-04671114 , version 1 (13-08-2024)

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Adolfo Suárez Roos, Zane Zake, Tahir Rasheed, Nicolò Pedemonte, Stéphane Caro. Towards Solving Cable-Driven Parallel Robot Inaccuracy due to Cable Elasticity. 2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024, Yokohama, Japan. pp.8898-8904, ⟨10.1109/ICRA57147.2024.10610384⟩. ⟨hal-04671114⟩
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