Abstract
This paper deals with the sensitivity analysis of the elasto-geometrical model of Cable-Driven Parallel Robots (CDPRs) to their geometric and mechanical uncertainties. This sensitivity analysis is crucial in order to come up with a robust model-based control of CDPRs. Here, 62 geometrical and mechanical error sources are considered to investigate their effect onto the static deflection of the moving-platform (MP) under an external load. A reconfigurable CDPR, named “CAROCA”, is analyzed as a case of study to highlight the main uncertainties affecting the static deflection of its MP.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Merlet, J.P.: MARIONET, a family of modular wire-driven parallel robots. In: Lenarcic, J., Stanisic, M. (eds.) Advances in Robot Kinematics: Motion in Man and Machine, pp. 53–61. Springer, Dordrecht (2010)
Dallej, T., Gouttefarde, M., Andreff, N., Michelin, M., Martinet, P.: Towards vision-based control of cable-driven parallel robots. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2855–2860. IEEE, September 2011
Gagliardini, L., Caro, S., Gouttefarde, M., Girin, A.: A reconfiguration strategy for reconfigurable cable-driven parallel robots. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 1613–1620. IEEE, May 2015
Gagliardini, L., Caro, S., Gouttefarde, M., Girin, A.: Discrete reconfiguration planning for cable-driven parallel robots. Mech. Mach. Theory 100, 313–337 (2016)
Jamshidifar, H., Fidan, B., Gungor, G., Khajepour, A.: Adaptive vibration control of a flexible cable driven parallel robot. IFAC-PapersOnLine 48(3), 1302–1307 (2015)
Fang, S., Franitza, D., Torlo, M., Bekes, F., Hiller, M.: Motion control of a tendon-based parallel manipulator using optimal tension distribution. IEEE/ASME Trans. Mechatron. 9(3), 561–568 (2004)
Zi, B., Duan, B.Y., Du, J.L., Bao, H.: Dynamic modeling and active control of a cable-suspended parallel robot. Mechatronics 18(1), 1–12 (2008)
Pott, A., Mütherich, H., Kraus, W., Schmidt, V., Miermeister, P., Verl, A.: IPAnema: a family of cable-driven parallel robots for industrial applications. In: Bruckmann, T., Pott, A. (eds.) Cable-Driven Parallel Robots, pp. 119–134. Springer, Heidelberg (2013)
Irvine, H.M.: Cable Structures. Dover Publications, New York (1992)
Mikelsons, L., Bruckmann, T., Hiller, M., Schramm, D.: A real-time capable force calculation algorithm for redundant tendon-based parallel manipulators. In: IEEE International Conference on Robotics and Automation, 2008, ICRA 2008, pp. 3869–3874. IEEE, May 2008
Carbone, G.: Stiffness analysis and experimental validation of robotic systems. Front. Mech. Eng. 6(2), 182–196 (2011)
Nguyen, D.Q., Gouttefarde, M.: Stiffness matrix of 6-DOF cable-driven parallel robots and its homogenization. In: Lenarčič, J., Khatib, O. (eds.) Advances in Robot Kinematics, pp. 181–191. Springer International Publishing, Cham (2014)
De Wit, C.C., Seront, V.: Robust adaptive friction compensation. In: 1990 IEEE International Conference on Robotics and Automation, 1990, Proceedings, pp. 1383–1388. IEEE, May 1990
Lamaury, J.: Contribution a la commande des robots parallles a câblesà redondance d’actionnement. Doctoral dissertation. Université Montpellier II-Sciences et Techniques du Languedoc (2013)
Zi, B., Ding, H., Wu, X., Kecskeméthy, A.: Error modeling and sensitivity analysis of a hybrid-driven based cable parallel manipulator. Precis. Eng. 38(1), 197–211 (2014)
Miermeister, P., Kraus, W., Lan, T., Pott, A.: An elastic cable model for cable-driven parallel robots including hysteresis effects. In: Pott, A., Bruckmann, T. (eds.) Cable-Driven Parallel Robots, pp. 17–28. Springer International Publishing, Bern (2015)
modeFRONTIER. www.esteco.com
Courteille, E., Deblaise, D., Maurine, P.: Design optimization of a delta-like parallel robot through global stiffness performance evaluation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, IROS 2009, pp. 5159–5166. IEEE, October 2009
dit Sandretto, J.A., Trombettoni, G., Daney, D., Chabert, G.: Certified calibration of a cable-driven robot using interval contractor programming. In: Thomas, F., Perez Gracia, A. (eds.) Computational Kinematics, pp. 209–217. Springer, Amsterdam (2014)
Joshi, S.A., Surianarayan, A.: Calibration of a 6-DOF cable robot using two inclinometers. In: Performance Metrics for Intelligent Systems, pp. 3660–3665 (2003)
Miermeister, P., Pott, A., Verl, A.: Auto-calibration method for overconstrained cable-driven parallel robots. In: 7th German Conference on Robotics; Proceedings of ROBOTIK 2012, pp. 1–6. VDE, May 2012
Borgstrom, P.H., Jordan, B.L., Borgstrom, B.J., Stealey, M.J., Sukhatme, G.S., Batalin, M.A., Kaiser, W.J.: Nims-pl: a cable-driven robot with self-calibration capabilities. IEEE Trans. Rob. 25(5), 1005–1015 (2009)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Baklouti, S., Caro, S., Courteille, E. (2018). Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots. 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_4
Download citation
DOI: https://doi.org/10.1007/978-3-319-61431-1_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-61430-4
Online ISBN: 978-3-319-61431-1
eBook Packages: EngineeringEngineering (R0)