Sensitivity analysis of the elasto-geometrical model of cable-driven parallel robots

Abstract

This paper deals with the sensitivity analysis of the elasto-geometrical model of Cable-Driven Parallel Robots (CDPRs) to their geometric and mechanical uncertainties. This sensitivity analysis is crucial in order to come up with a robust model-based control of CDPRs. Here, 62 geometrical and mechanical error sources are considered to investigate their effect onto the static deflection of the moving-platform (MP) under an external load. A reconfigurable CDPR, named “CAROCA”, is analyzed as a case of study to highlight the main uncertainties affecting the static deflection of its MP.