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An Inverse Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys

: Fabritius, Marc; Pott, Andreas


Pisla, Doina:
New Trends in Mechanism and Machine Science : EuCoMeS
Cham: Springer Nature, 2020 (Mechanisms and Machine Science 89)
ISBN: 978-3-030-55060-8 (Print)
ISBN: 978-3-030-55061-5 (Online)
ISBN: 978-3-030-55062-2
ISBN: 978-3-030-55063-9
Aufsatz in Buch
Fraunhofer IPA ()
paralleler Seilroboter; Seilkinematik; Seiltrieb; Kinematik

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.