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Direct Kinematics of CDPR with Extra Cable Orientation Sensors: The 2 and 3 Cables Case with Perfect Measurement and Ideal or Elastic Cables

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Cable-Driven Parallel Robots

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 53))

Abstract

Direct kinematics (DK) of cable-driven parallel robots (CDPR) based only on cable lengths measurements is a complex issue even with ideal cables and consequently even harder for more realistic cable models. A natural way to simplify the DK solving is to add sensors. We consider here sensors that give a partial or complete measurement of the cable direction at the anchor points and spatial CDPR with 2/3 cables and we assume that these measurements are exact. We provide a solving procedure and maximal number of DK solutions for an extensive combination of sensors while considering two different cables models: ideal and linearly elastic without deformation.

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Authors and Affiliations

  1. HEPHAISTOS Project, Université Côte d’Azur, Inria, Sophia-Antipolis, France

    Jean-Pierre Merlet

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  1. Jean-Pierre Merlet
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Correspondence to Jean-Pierre Merlet .

Editor information

Editors and Affiliations

  1. Fac. Sciences et de Génie, Université Laval, Quebec City, Québec, Canada

    Clément Gosselin

  2. Mechanical Engineering, Université Laval, Quebec City, Québec, Canada

    Philippe Cardou

  3. Chair for Mechatronics, Universität Duisburg-Essen, Duisburg, Nordrhein-Westfalen, Germany

    Tobias Bruckmann

  4. Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA, Stuttgart, Baden-Württemberg, Germany

    Andreas Pott

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Merlet, JP. (2018). Direct Kinematics of CDPR with Extra Cable Orientation Sensors: The 2 and 3 Cables Case with Perfect Measurement and Ideal or Elastic Cables. In: Gosselin, C., Cardou, P., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-319-61431-1_16

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  • DOI: https://doi.org/10.1007/978-3-319-61431-1_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61430-4

  • Online ISBN: 978-3-319-61431-1

  • eBook Packages: EngineeringEngineering (R0)

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