Scenario-based dimensioning of the actuator of parallel cable-driven robots

Abstract

A wide range of potential applications for parallel cable-driven robots exist. An important factor for detailed concept studies is the dimensioning of the winches. From the economic point of view, the high overload capacity of electrical drives should be taken into account during the selection of the actuator. This paper proposes a method to generate load spectra of the actuators based on dynamicmotion sequences.With the gained data a suitable actuator can be selected. Furthermore, it's shown how the implementation can be used to adjust the internal tension niveau for minimizing the trajectory time under the actuators performance constraints. © Springer Science+Business Media Dordrecht 2013.