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A panorama of methods for dealing with sagging cables in cable-driven parallel robots

Jean-Pierre Merlet 1 Romain Tissot 1 
1 HEPHAISTOS - HExapode, PHysiologie, AssISTance et Objets de Service
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : We are considering cable-driven parallel robot (CDPR), where the legs of the robot are constituted of cables that can be independently coiled/uncoiled. We show that whatever the size of the CDPR is we may have slack cables so that using a sagging cable model that takes into account both the mass and elasticity of the cables will improve the positioning accuracy.Being able to solve the inverse and direct kinematics (IK/DK) with sagging cables is crucial for kinematic analysis while being quite complex as both IK/DK may have multiple solutions. We present a panorama of solving methods for the IK/DK with their advantages and drawbacks.
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Contributor : Jean-Pierre Merlet Connect in order to contact the contributor
Submitted on : Wednesday, March 16, 2022 - 11:48:22 AM
Last modification on : Saturday, June 25, 2022 - 11:57:47 PM
Long-term archiving on: : Friday, June 17, 2022 - 6:50:00 PM


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  • HAL Id : hal-03610293, version 1


Jean-Pierre Merlet, Romain Tissot. A panorama of methods for dealing with sagging cables in cable-driven parallel robots. ARK 2022 - 18th International Symposium on Advances in robots kinematics, Jun 2022, Bilbao, Spain. ⟨hal-03610293⟩



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