A Tension Distribution Method with Improved Computational Efficiency

  • Johann Lamaury
  • Marc Gouttefarde
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 12)


This paper introduces a real-time capable tension distribution algorithm for n degree-of-freedom cable-driven parallel robots (CDPR) actuated by \(n+2\) cables. It is based on geometric considerations applied to the two-dimensional convex polytope of feasible cable tension distribution. This polytope is defined as the intersection between the set of inequality constraints on the cable tension values and the affine space of tension solutions to the mobile platform static or dynamic equilibrium. The algorithm proposed in this paper is dedicated to \(n\) degree-of-freedom CDPR actuated by \(n+2\) cables. Indeed, it takes advantage of the two-dimensional nature of the corresponding feasible tension distribution convex polytope to improve the computational efficiency of a tension distribution strategy proposed elsewhere. The fast computation of the polytope vertices and of its barycenter made us successfully validate the real-time compatibility of the presented algorithm.


Convex Polygon Mobile Platform Parallel Robot Cable Tension Linear Programming Method 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



The financial support of the ANR (grant 2009 SEGI 018 01), of the Région Languedoc-Roussillon (grants 115217 and 120218) and the financial contribution of Tecnalia are greatly acknowledged.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Laboratoire d’Informatiquede Robotique et de Micro-électronique de MontpellierMontpellier Cedex 5France

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