Abstract
A key advantage of cable-driven parallel robots, compared to other robot types, is their large workspace. Despite this fact, experiments in previous works have shown that cable-driven parallel robots often cannot fully realize their theoretically estimated workspace in practice.
To remedy this shortcoming, a new inverse kinematic code is developed which considers the previously neglected effects of both cable sagging and pulleys. For a realistic exemplary robot, the new kinematic code yields a \(19.5\%\) larger wrench-feasible workspace volume for the catenary-pulley model than previous codes. This result shows that the effects of cable sagging and pulleys should be considered in the kinematic codes, especially for large cable-driven parallel robots.
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Acknowledgements
This work was supported by the European Union’s H2020 Program (H2020/2014–2020) under the grant agreement No. 732513 (HEPHAESTUS project).
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Fabritius, M., Pott, A. (2020). An Inverse Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys. In: Pisla, D., Corves, B., Vaida, C. (eds) New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science, vol 89. Springer, Cham. https://doi.org/10.1007/978-3-030-55061-5_48
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DOI: https://doi.org/10.1007/978-3-030-55061-5_48
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