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.
CITATION STYLE
Merlet, J. P., & Tissot, R. (2022). A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots. In Springer Proceedings in Advanced Robotics (Vol. 24 SPAR, pp. 122–130). Springer Nature. https://doi.org/10.1007/978-3-031-08140-8_14
Mendeley helps you to discover research relevant for your work.