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On the Limitations on the Lower and Upper Tensions for Cable-Driven Parallel Robots

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Advances in Robot Kinematics

Abstract

In this chapter we discuss the feasible range for the cable forces of cable-driven parallel robots. Numerous papers on algorithms have been presented that assume certain values for the minimum and maximum cable forces. In this contribution we summarize criteria to derive the tension limits from kinematic, physical, and technological parameters point of view. We discuss a number of effects leading to the interval of feasible cable forces and provide formula and technical parameters that allow the determination of the limits for the cable forces. Typical values for the cable force limits are exemplified based on use-cases of different robots of the IPAnema system family.

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Acknowledgments

This work has received funding from the European Union Seventh Framework Programme (FP7/2007-2013) under grant agreement no. 285404.

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Authors and Affiliations

  1. Fraunhofer IPA, Stuttgart, Germany

    Andreas Pott

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  1. Andreas Pott
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Correspondence to Andreas Pott .

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Editors and Affiliations

  1. J. Stefan Institute, Ljubljana-Vic-Rudnik, Slovenia

    Jadran Lenarčič

  2. Department of Computer Science Artificial Intelligence Laboratory, Stanford University, Stanford, California, USA

    Oussama Khatib

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Pott, A. (2014). On the Limitations on the Lower and Upper Tensions for Cable-Driven Parallel Robots. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_26

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  • DOI: https://doi.org/10.1007/978-3-319-06698-1_26

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-06697-4

  • Online ISBN: 978-3-319-06698-1

  • eBook Packages: EngineeringEngineering (R0)

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