The forward kinematics of cable-driven parallel robots with sagging cables

Jean Pierre Merlet; Julien Alexandre-Dit-Sandretto

doi:10.1007/978-3-319-09489-2_1

The forward kinematics of cable-driven parallel robots with sagging cables

Jean Pierre Merlet
, Julien Alexandre-Dit-Sandretto

INRIA

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

Abstract

Solving the forward kinematics (FK) of parallel robots is known to be a difficult task and the problem is even more complex for cable driven parallel robot (CDPR): the system of equations that has to be solved is larger than with rigid legs as first the static equations have to be taken into account and, second because the deformation of the cables because of their elasticity and their mass may play a role, while being described by a relatively non algebraic complex model. We consider in this paper any arbitrary CDPR whose cables may present a significant deformation due to their elasticity and own mass and we present for the first time an interval analysis based generic algorithm that allows to calculate in a guaranteed manner all the FK solutions and illustrate its use for a CDPR with 8 cables.

Original language	English
Title of host publication	Cable-Driven Parallel Robots - Proceedings of the 2nd International Conference on Cable-Driven Parallel Robots
Editors	Andreas Pott, Tobias Bruckmann
Publisher	Kluwer Academic Publishers
Pages	3-15
Number of pages	13
ISBN (Electronic)	9783319094885
DOIs	https://doi.org/10.1007/978-3-319-09489-2_1
Publication status	Published - 1 Jan 2015
Externally published	Yes
Event	2nd International Conference on Cable-Driven Parallel Robots, CableCon 2014 - Duisburg, Germany Duration: 24 Aug 2014 → 27 Aug 2014

Publication series

Name	Mechanisms and Machine Science
Volume	32
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	2nd International Conference on Cable-Driven Parallel Robots, CableCon 2014
Country/Territory	Germany
City	Duisburg
Period	24/08/14 → 27/08/14

Access to Document

10.1007/978-3-319-09489-2_1

Cite this

Merlet, J. P., & Alexandre-Dit-Sandretto, J. (2015). The forward kinematics of cable-driven parallel robots with sagging cables. In A. Pott, & T. Bruckmann (Eds.), Cable-Driven Parallel Robots - Proceedings of the 2nd International Conference on Cable-Driven Parallel Robots (pp. 3-15). (Mechanisms and Machine Science; Vol. 32). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-09489-2_1

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title = "The forward kinematics of cable-driven parallel robots with sagging cables",

abstract = "Solving the forward kinematics (FK) of parallel robots is known to be a difficult task and the problem is even more complex for cable driven parallel robot (CDPR): the system of equations that has to be solved is larger than with rigid legs as first the static equations have to be taken into account and, second because the deformation of the cables because of their elasticity and their mass may play a role, while being described by a relatively non algebraic complex model. We consider in this paper any arbitrary CDPR whose cables may present a significant deformation due to their elasticity and own mass and we present for the first time an interval analysis based generic algorithm that allows to calculate in a guaranteed manner all the FK solutions and illustrate its use for a CDPR with 8 cables.",

author = "Merlet, \{Jean Pierre\} and Julien Alexandre-Dit-Sandretto",

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Merlet, JP & Alexandre-Dit-Sandretto, J 2015, The forward kinematics of cable-driven parallel robots with sagging cables. in A Pott & T Bruckmann (eds), Cable-Driven Parallel Robots - Proceedings of the 2nd International Conference on Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol. 32, Kluwer Academic Publishers, pp. 3-15, 2nd International Conference on Cable-Driven Parallel Robots, CableCon 2014, Duisburg, Germany, 24/08/14. https://doi.org/10.1007/978-3-319-09489-2_1

The forward kinematics of cable-driven parallel robots with sagging cables. / Merlet, Jean Pierre; Alexandre-Dit-Sandretto, Julien.
Cable-Driven Parallel Robots - Proceedings of the 2nd International Conference on Cable-Driven Parallel Robots. ed. / Andreas Pott; Tobias Bruckmann. Kluwer Academic Publishers, 2015. p. 3-15 (Mechanisms and Machine Science; Vol. 32).

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

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T1 - The forward kinematics of cable-driven parallel robots with sagging cables

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N2 - Solving the forward kinematics (FK) of parallel robots is known to be a difficult task and the problem is even more complex for cable driven parallel robot (CDPR): the system of equations that has to be solved is larger than with rigid legs as first the static equations have to be taken into account and, second because the deformation of the cables because of their elasticity and their mass may play a role, while being described by a relatively non algebraic complex model. We consider in this paper any arbitrary CDPR whose cables may present a significant deformation due to their elasticity and own mass and we present for the first time an interval analysis based generic algorithm that allows to calculate in a guaranteed manner all the FK solutions and illustrate its use for a CDPR with 8 cables.

AB - Solving the forward kinematics (FK) of parallel robots is known to be a difficult task and the problem is even more complex for cable driven parallel robot (CDPR): the system of equations that has to be solved is larger than with rigid legs as first the static equations have to be taken into account and, second because the deformation of the cables because of their elasticity and their mass may play a role, while being described by a relatively non algebraic complex model. We consider in this paper any arbitrary CDPR whose cables may present a significant deformation due to their elasticity and own mass and we present for the first time an interval analysis based generic algorithm that allows to calculate in a guaranteed manner all the FK solutions and illustrate its use for a CDPR with 8 cables.

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The forward kinematics of cable-driven parallel robots with sagging cables

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