Towards Solving Cable-Driven Parallel Robot Inaccuracy due to Cable Elasticity

Adolfo Suárez Roos (1) , Zane Zake (1) , Tahir Rasheed (1) , Nicolò Pedemonte (1) , Stéphane Caro (2, 3, 4)

1 Nantes Univ - IRT - Nantes Université -Institut de Recherche Technologique Jules Verne
2 CNRS - Centre National de la Recherche Scientifique
3 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
4 Nantes Univ - ECN - NANTES UNIVERSITÉ - École Centrale de Nantes

Cable elasticity can significantly impact the accuracy of Cable-Driven Parallel Robots (CDPRs). However, it’s frequently disregarded as negligible in CDPR simulations and designs. In this paper, we propose a numerical approach, referred to as SEECR, which is designed to estimate the behavior of a CDPR featuring elastic cables while ensuring the Static Equilibrium (SE) of the Moving-Platform (MP). By modeling the cables as elastic springs, the proposed approach correctly predicts which cables become slack, estimates the tension distribution among cables and computes unwanted MP motions, allowing to predict the impact of design choices. The results have been validated experimentally on two cable types and configurations.

Domains: Automatic

Adolfo Suárez Roos, Zane Zake, Tahir Rasheed, Nicolò Pedemonte, Stéphane Caro. Towards Solving Cable-Driven Parallel Robot Inaccuracy due to Cable Elasticity. 2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024, Yokohama, Japan. pp.8898-8904, ⟨10.1109/ICRA57147.2024.10610384⟩. ⟨hal-04671114⟩