A key advantage of cable-driven parallel robots, compared to other robot types, is their large workspace. Despite this fact, experiments in previous works have shown that cable-driven parallel robots often cannot fully realize their theoretically estimated workspace in practice. To remedy this shortcoming, a new inverse kinematic code is developed which considers the previously neglected effects of both cable sagging and pulleys. For a realistic exemplary robot, the new kinematic code yields a $$19.5\%$$ larger wrench-feasible workspace volume for the catenary-pulley model than previous codes. This result shows that the effects of cable sagging and pulleys should be considered in the kinematic codes, especially for large cable-driven parallel robots.
CITATION STYLE
Fabritius, M., & Pott, A. (2020). An inverse kinematic code for cable-driven parallel robots considering cable sagging and pulleys. In Mechanisms and Machine Science (Vol. 89, pp. 423–431). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-55061-5_48
Mendeley helps you to discover research relevant for your work.