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A Forward Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys

: Fabritius, Marc; Pott, Andreas

Preprint urn:nbn:de:0011-n-6334739 (173 KByte PDF)
MD5 Fingerprint: 9c18d9b5bb3beb22a349617e30df2573
The original publication is available at
Erstellt am: 25.3.2021

Lenarcic, Jadran:
Advances in Robot Kinematics 2020
Cham: Springer Nature, 2021 (Springer Proceedings in Advanced Robotics 15)
ISBN: 978-3-030-50974-3 (Print)
ISBN: 978-3-030-50975-0 (Online)
ISBN: 978-3-030-50977-4
International Symposium on Advances in Robot Kinematics (ARK) <17, 2020, Online>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
paralleler Seilroboter; Kinematik; Arbeitsbereich; Robotik

The large workspace of cable-driven parallel robots is one of their key benefits. Experiments have shown that in practice the reachable workspace is often smaller than the theoretically predicted one. To improve the workspace computation, a new forward kinematic code, which considers the previously neglected effects of cable sagging and pulleys, is introduced. For an exemplary robot with eight cables, the new forward kinematic predicts a 18.5% smaller workspace and a 27.8% lower platform stiffness than the standard geometric model.
The findings of this work show the importance of considering the effects of cable sagging and pulleys in the workspace computation and kinematic codes, especially for large cable-driven parallel robots.