Abstract
This paper presents the findings of several experiments done on the stability of a planar three degree-of-freedom (DOF) cable-driven parallel manipulator. The major interest is the deflection caused by a wrench or force applied normal to the plane. Here the planar cable robot has no direct constraint. A simple mathematical model based on stiffness is presented to predict the outcomes. It was found that a planar cable robot of dimensions four by 10 m deflects between 20 and 400 mm under forces up to 50 N applied through the normal. Deflections under movement were found to be small in comparison. Oscillations frequencies are in the range of 0.5–1 Hz. The results are also compared to a big mock up robot with dimensions eight by twenty meters. The deflections on this mock-up were found to be very similar to those found on the robot after considering scale.
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Acknowledgments
This work was supported by the Fraunhofer-Gesellschaft Internal Programs under Grant No. WISA 823 244.
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Schmidt, V., Kraus, W., Pott, A. (2015). Presentation of Experimental Results on Stability of a 3 DOF 4-Cable-Driven Parallel Robot Without Constraints. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-319-09489-2_7
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DOI: https://doi.org/10.1007/978-3-319-09489-2_7
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