Investigating the Effect of Cable Force on Winch Winding Accuracy for Cable-Driven Parallel Robots

  • Valentin SchmidtEmail author
  • Alexander Mall
  • Andreas Pott
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 24)


This paper focuses on the winch winding properties of typical driving mechanisms of cable-driven parallel robots. While cable properties have already been studied, the accuracy of winding mechanisms to control cable robots and the interaction with cable properties has yet to be investigated. To initiate this, some properties believed to affect the winding accuracy are outlined. It was found that cable force can have a significant effect not only because of finite stiffness, but due to ovalisation and elongation effects of the rope. An experimental test on ovalisation showed significant deviations from a standard approximation to evaluate transmission accuracy. This effect can change the accuracy of winding mechanisms by 0.3–1.2 %. Thus when investigating cable-robot accuracy the winch winding properties cannot be ignored.


Cable-driven parallel robots Winch Winding properties Ovalisation 



This work was supported by the FhG Internal Programs under Grant No. WISA 823 244.


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Valentin Schmidt
    • 1
    Email author
  • Alexander Mall
    • 1
  • Andreas Pott
    • 1
  1. 1.Fraunhofer IPAStuttgartGermany

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