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Increase of position accuracy for cable-driven parallel robots using a model for elongation of plastic fiber ropes

: Schmidt, Valentin; Pott, Andreas


Wenger, Philippe ; International Federation for the Promotion of Mechanism and Machine Science:
New trends in mechanism and machine science : Theory and industrial applications, 6th European Conference on Mechanism Science, EUCOMES 2016, Nantes, 20-23 September 2016
Cham: Springer International Publishing, 2017 (Mechanisms and Machine Science 43)
ISBN: 978-3-319-44155-9 (Print)
ISBN: 978-3-319-44156-6 (Online)
European Conference on Mechanism Science (EUCOMES) <6, 2016, Nantes>
Fraunhofer IPA ()
cable-driven parallel robot; Genauigkeit; Echtzeitsystemsteuerung; Schwingung; Positioniergenauigkeit

This paper investigates the modeling of elongation in plastic fiber ropes for cable-driven parallel robots. The aim is to increase the accuracy of such a machine by incorporating a simple model for cable elongation when a force is applied. Several other modeling techniques already exist which take into account pulleys, cable mass, and the cables’ Young’s modulus. Their calculation is involved and accuracy improvements are yet to be verified completely. Here, a simpler model which only takes into account a theoretical force, based on robot geometry, at a given pose and measured elongation coefficients is proposed. It is implemented and verified experimentally, on the fully constrained IPAnema 3 prototype. It is shown to give an accuracy improvement of two fifths, from 46.5 mm to 29.0 mm average position deviation.