Computing cross-sections of the workspace of cable-driven parallel robots with 6 sagging cables - Archive ouverte HAL Access content directly
Conference Papers Year :

Computing cross-sections of the workspace of cable-driven parallel robots with 6 sagging cables

(1)
1

Abstract

Finding the workspace of cable driven parallel robots (CDPR) with sagging cables (i.e. elastic and deformable cables) is a problem that has never been fully addressed in the literature as this is a complex issue: the inverse kinematics may have multiple solutions and the equations that describe the problem are non-linear and non algebraic. We address here the problem of determining an approximation of the border of horizontal cross-sections of the workspace for CDPR with 6 cables. We present an algorithm that give an outline of this border but also rises several theoretical issues. We then propose another algorithm that allow to determine a polygonal approximation of the workspace border induced by a specific constraint. All these algorithms are illustrated on a very large CDPR.
Fichier principal
Vignette du fichier
ck2017.pdf (121.53 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01643456 , version 1 (21-11-2017)

Identifiers

  • HAL Id : hal-01643456 , version 1

Cite

Jean-Pierre Merlet. Computing cross-sections of the workspace of cable-driven parallel robots with 6 sagging cables. CK 2017 - Computational Kinematics, May 2017, Poitiers, France. ⟨hal-01643456⟩
256 View
220 Download

Share

Gmail Facebook Twitter LinkedIn More