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FEM-Based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging

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Cable-Driven Parallel Robots (CableCon 2023)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 132))

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Abstract

Cable-Driven Parallel Robots (CDPRs) are a type of robot that is growing in popularity for different kinds of applications. However, the use of cables instead of rigid links makes the modelling of this robot a complex task, and therefore their trajectory planning and control are challenging. Assumptions such as inelastic, massless and non-sagging cables made when the CDPR is small are no longer valid when the robot becomes large. This paper presents a CDPR dynamic model taking into account cable elasticity and sagging, and its implementation within an open-source framework, named SOFA. Finally, the simulation results are compared to experiments conducted on a suspended CDPR.

This work was supported by both IRT Jules Verne in the framework of the PERFORM program and ROBOTEX 2.0 (Grants ROBOTEX ANR-10-EQPX-44-01 and TIRREX ANR-21-ESRE-0015).

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Notes

  1. 1.

    https://github.com/sofa-framework/BeamAdapter.

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Authors and Affiliations

  1. Nantes Université, IRT Jules Verne, LS2N, UMR 6004, 44000, Nantes, France

    Karim Moussa

  2. Université de Lille, INRIA, CNRS, CRIStAL UMR CNRS 9189, Lille, France

    Eulalie Coevoet & Christian Duriez

  3. IMT Atlantique, Nantes Université, École Centrale de Nantes, CNRS, LS2N, UMR 6004, 44000, Nantes, France

    Karim Moussa, Maxime Thieffry, Fabien Claveau, Philippe Chevrel & Stéphane Caro

Authors
  1. Karim Moussa
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  2. Eulalie Coevoet
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  3. Christian Duriez
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  4. Maxime Thieffry
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  5. Fabien Claveau
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  6. Philippe Chevrel
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  7. Stéphane Caro
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Corresponding author

Correspondence to Karim Moussa .

Editor information

Editors and Affiliations

  1. École Centrale Nantes, CNRS, LS2N, Nantes Université, Nantes, France

    Stéphane Caro

  2. University of Stuttgart, Stuttgart, Germany

    Andreas Pott

  3. Chair of Mechatronics, University of Duisburg-Essen, Duisburg, Germany

    Tobias Bruckmann

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Moussa, K. et al. (2023). FEM-Based Dynamic Model for Cable-Driven Parallel Robots with Elasticity and Sagging. In: Caro, S., Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2023. Mechanisms and Machine Science, vol 132. Springer, Cham. https://doi.org/10.1007/978-3-031-32322-5_5

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