On the determination of cable characteristics for large dimension cable-driven parallel mechanisms

Riehl, Nicolas; Gouttefarde, Marc; Baradat, Cédric; Pierrot-Deseilligny, Marc

doi:10.1109/robot.2010.5509887

Cited by 40 publications

(28 citation statements)

References 14 publications

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“…Experimental works have shown a very good agreement between this model and the behavior of cables classically used for CDPR [19]. This model is established in the R i c frame in which the coordinates of A i are (0,0,0) while the coordinates of point B i are (x b ≥ 0, 0, z b ).…”

Section: Cable Modelmentioning

confidence: 77%

Computing Cross-Sections of the Workspace of Cable-Driven Parallel Robots with 6 Sagging Cables

Merlet

2017

Computational Kinematics

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To cite this version:Jean-Pierre Merlet. Computing cross-sections of the workspace of cable-driven parallel robots with 6 sagging cables. CK 2017 -Computational Kinematics, May 2017 Computing cross-sections of the workspace of cable-driven parallel robots with 6 sagging cables Abstract. Finding the workspace of cable driven parallel robots (CDPR) with sagging cables (i.e. elastic and deformable cables) is a problem that has never been fully addressed in the literature as this is a complex issue: the inverse kinematics may have multiple solutions and the equations that describe the problem are non-linear and non algebraic. We address here the problem of determining an approximation of the border of horizontal cross-sections of the workspace for CDPR with 6 cables. We present an algorithm that give an outline of this border but also rises several theoretical issues. We then propose another algorithm that allow to determine a polygonal approximation of the workspace border induced by a specific constraint. All these algorithms are illustrated on a very large CDPR.

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Section: Cable Modelmentioning

confidence: 77%

Computing Cross-Sections of the Workspace of Cable-Driven Parallel Robots with 6 Sagging Cables

Merlet

2017

Computational Kinematics

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“…A few works investigate the control of largedimension CDPRs [10,[42][43][44] but even fewer take cable sagging into account [11,[45][46][47]. In fact, in the case of large-dimension CDPRs or of CDPRs designed to handle heavy payloads according to Standards [48], where a factor of safety is used in the selection of the cable, the cable mass is non-negligible [49,50] and the cables may sag under their own weight, especially when steel cables are used. The dynamics of CDPRs simulated with lumped mass or continuous mass cable modeling, e.g.…”

Section: Introductionmentioning

confidence: 99%

Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

et al. 2019

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This paper deals with the modeling and vision-based control of large-dimension cable-driven parallel robots. Inverse kinematics and instantaneous inverse kinematics models are derived from the elastic catenary cable modeling. These models turn out to be dependent on the pose of the mobile platform (end-effector), on the cable tangent directions and on the cable tensions. In order to control the motion of the robot, a position-based visual servo control is used, where the mobile platform pose is measured by vision and used for regulation. A multi-camera setup and load cells provide the aforementioned desired measurements, i.e., the mobile platform pose, the directions of the tangents to the cables, and the cable tensions. The proposed approach was validated in experiments on the large-dimension cable-driven parallel robot prototype CoGiRo of global dimensions 15 m x 11 m x 6 m (L x l x h). A maximum error of less than 1 cm in position and 0.5 • in orientation was achieved. Moreover, in the case of cable-driven parallel robots larger than the prototype CoGiRo, simulations were conducted in order to assess the influence on the vision-based control of four instantaneous inverse kinematics models.

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“…In this paper we will consider the elasto-static Irvine sagging cable model that has been proposed for elastic and deformable cable with mass [5] and that has been shown to be in very good agreement with experimental results [6]. This model assumes that the cable lies in a vertical plane, the cable plane, and is therefore a 2D model.…”

Section: Introductionmentioning

confidence: 99%

Some properties of the Irvine cable model and their use for the kinematic analysis of cable-driven parallel robots

Merlet

2019

Mechanism and Machine Theory

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Cable model has a strong influence on the complexity of the kinematic analysis of cable-driven parallel robots (CDPR). The most complete elasto-static model relies on Irvine equation that takes into account both the elasticity and the deformation of the cable due to its own mass and has been shown to be very realistic. This model is complex, non algebraic and numerically ill-conditioned, thereby leading to difficulties when using it in a kinematic analysis involving several cables. We exhibit some properties of this model that may drastically improve the analysis computation time when used in kinematic studies.

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On the determination of cable characteristics for large dimension cable-driven parallel mechanisms

Cited by 40 publications

References 14 publications

Computing Cross-Sections of the Workspace of Cable-Driven Parallel Robots with 6 Sagging Cables

Computing Cross-Sections of the Workspace of Cable-Driven Parallel Robots with 6 Sagging Cables

Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

Some properties of the Irvine cable model and their use for the kinematic analysis of cable-driven parallel robots

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