A novel criterion is introduced in this paper to determine the set of cable tensions for Cable-Driven Parallel Robots (CDPRs) with the aim of maximizing the robot stiffness along a specific direction. Based on the feasible polygon of the CDPR and its stiffness matrix, an algorithm selects the set of admissible cable tensions leading to the smallest moving-platform displacement, the moving-platform being subject to an external wrench. The proposed tension distribution is implemented in a control scheme and experimented on a fully-constrained CDPR for a window cleaning application.
CITATION STYLE
Picard, E., Caro, S., Plestan, F., & Claveau, F. (2021). Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots. In Springer Proceedings in Advanced Robotics (Vol. 15, pp. 209–217). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-50975-0_26
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