Confirmation of hypothesis on cable properties for cable-driven robots

Julien Alexandre Dit Sandretto; Gilles Trombettoni; David Daney

doi:10.1007/978-94-007-4902-3_9

Confirmation of hypothesis on cable properties for cable-driven robots

Julien Alexandre Dit Sandretto, Gilles Trombettoni, David Daney

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In the cable-driven robot studies, the mass and the elasticity of cables are often neglected, particularly for small-sized robots. Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration. We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration.

Original language	English
Title of host publication	New Trends in Mechanism and Machine Science
Subtitle of host publication	Theory and Applications in Engineering
Publisher	Kluwer Academic Publishers
Pages	85-93
Number of pages	9
ISBN (Print)	9789400749016
DOIs	https://doi.org/10.1007/978-94-007-4902-3_9
Publication status	Published - 1 Jan 2013
Externally published	Yes
Event	4th European Conference on Mechanism Science, EUCOMES 2012 - Santander, Spain Duration: 18 Sept 2012 → 22 Sept 2012

Publication series

Name	Mechanisms and Machine Science
Volume	7
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	4th European Conference on Mechanism Science, EUCOMES 2012
Country/Territory	Spain
City	Santander
Period	18/09/12 → 22/09/12

Keywords

Cable-driven robot
Interval analysis

Access to Document

10.1007/978-94-007-4902-3_9

Cite this

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title = "Confirmation of hypothesis on cable properties for cable-driven robots",

abstract = "In the cable-driven robot studies, the mass and the elasticity of cables are often neglected, particularly for small-sized robots. Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration. We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration.",

keywords = "Cable-driven robot, Interval analysis",

author = "\{Dit Sandretto\}, \{Julien Alexandre\} and Gilles Trombettoni and David Daney",

year = "2013",

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doi = "10.1007/978-94-007-4902-3\_9",

language = "English",

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series = "Mechanisms and Machine Science",

publisher = "Kluwer Academic Publishers",

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booktitle = "New Trends in Mechanism and Machine Science",

note = "4th European Conference on Mechanism Science, EUCOMES 2012 ; Conference date: 18-09-2012 Through 22-09-2012",

}

Dit Sandretto, JA, Trombettoni, G & Daney, D 2013, Confirmation of hypothesis on cable properties for cable-driven robots. in New Trends in Mechanism and Machine Science: Theory and Applications in Engineering. Mechanisms and Machine Science, vol. 7, Kluwer Academic Publishers, pp. 85-93, 4th European Conference on Mechanism Science, EUCOMES 2012, Santander, Spain, 18/09/12. https://doi.org/10.1007/978-94-007-4902-3_9

Confirmation of hypothesis on cable properties for cable-driven robots. / Dit Sandretto, Julien Alexandre; Trombettoni, Gilles; Daney, David.
New Trends in Mechanism and Machine Science: Theory and Applications in Engineering. Kluwer Academic Publishers, 2013. p. 85-93 (Mechanisms and Machine Science; Vol. 7).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Confirmation of hypothesis on cable properties for cable-driven robots

AU - Dit Sandretto, Julien Alexandre

AU - Trombettoni, Gilles

AU - Daney, David

PY - 2013/1/1

Y1 - 2013/1/1

N2 - In the cable-driven robot studies, the mass and the elasticity of cables are often neglected, particularly for small-sized robots. Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration. We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration.

AB - In the cable-driven robot studies, the mass and the elasticity of cables are often neglected, particularly for small-sized robots. Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration. We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration.

KW - Cable-driven robot

KW - Interval analysis

U2 - 10.1007/978-94-007-4902-3_9

DO - 10.1007/978-94-007-4902-3_9

M3 - Conference contribution

AN - SCOPUS:84896652829

SN - 9789400749016

T3 - Mechanisms and Machine Science

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EP - 93

BT - New Trends in Mechanism and Machine Science

PB - Kluwer Academic Publishers

T2 - 4th European Conference on Mechanism Science, EUCOMES 2012

Y2 - 18 September 2012 through 22 September 2012

ER -

Confirmation of hypothesis on cable properties for cable-driven robots

Abstract

Publication series

Conference

Keywords

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