Abstract
Planar 2-degree-of-freedom (DOF) 3-differential Cable-Driven Parallel Robots (CDPRs) consist of a point-mass end-effector driven by a number of cables. Each cable is divided into four segments, three of them being connected to the point-mass end-effector by means of routing pulleys. This paper deals with the stiffness analysis of such planar 2-DOF 3-differential CDPRs. Based on the usual linear spring cable elongation model, the expression of the stiffness matrix is derived. The stiffness and workspace of several examples of planar 2-DOF 3-differential CDPRs are then compared. The results of these comparisons illustrate that the stiffness of planar CDPRs can be significantly improved by means of pulley differentials.
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Birglen, L., Gouttefarde, M. (2019). Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham. https://doi.org/10.1007/978-3-030-20751-9_6
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DOI: https://doi.org/10.1007/978-3-030-20751-9_6
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