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New Trends in Mechanism and Machine Science pp 85–93Cite as

Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 7))

Abstract

In the cable-driven robot studies, the mass and the elasticity of cables are often neglected, particularly for small-sized robots.Indeed, this assumption allows one to simplify the robot model and is used in control, design or calibration.We propose in this paper a method using interval analysis to judge the validity of this hypothesis in a given workspace, whatever are the cable characteristics, i.e., the applied tensions and the robot configuration.

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Acknowledgements

This work was supported in part by the French National Research Agency (ANR) under grant 2009-SEGI-018 (CoGiRo ANR project) and in part by the Région Languedoc-Roussillon under grant 115217.

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Authors and Affiliations

  1. Coprin INRIA, Sophia Antipolis Cedex, France

    Julien Alexandre dit Sandretto, Gilles Trombettoni & David Daney

  2. IRIT, I3S, University of Nice–Sophia, Sophia Antipolis Cedex, France

    Gilles Trombettoni

Authors
  1. Julien Alexandre dit Sandretto
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  2. Gilles Trombettoni
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  3. David Daney
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Corresponding author

Correspondence to Julien Alexandre dit Sandretto .

Editor information

Editors and Affiliations

  1. , Structural and Mechanical Engineering, University of Cantabria, Avenida de los Castros, Santander, 39005, Spain

    Fernando Viadero

  2. , Laboratory of Robotics & Mechatronics, University of Cassino, Via di Biasio 43, Cassino, 03043, Italy

    Marco Ceccarelli

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Sandretto, J.A.d., Trombettoni, G., Daney, D. (2013). Confirmation of Hypothesis on Cable Properties for Cable-Driven Robots. In: Viadero, F., Ceccarelli, M. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4902-3_9

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  • DOI: https://doi.org/10.1007/978-94-007-4902-3_9

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-4901-6

  • Online ISBN: 978-94-007-4902-3

  • eBook Packages: EngineeringEngineering (R0)

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