Abstract
In this chapter, several issues of the stiffness matrix of a general 6-DOF Cable-Driven Parallel Robot (CDPR) are addressed. First, the stiffness matrix of a CDPR with hefty cable is derived analytically. Then, a homogenization of this stiffness matrix is introduced. The discussion on this procedure gives an intuitive meaning of the stiffness matrix of the CDPR and its homogeneous form. This analysis can be used to solve a set of CDPR design problems.
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Acknowledgments
The research leading to these results has received funding from the European Community’s Seventh Framework Programme under grant agreement No. NMP2-SL-2011-285404 (CABLEBOT).
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Nguyen, D.Q., Gouttefarde, M. (2014). Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and Its Homogenization. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_20
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DOI: https://doi.org/10.1007/978-3-319-06698-1_20
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