Abstract
In this paper, a method is proposed to compute the so-called cable span, i.e. the space occupied by the cables when the robot is moving within its workspace. As the cables are attached to a mostly fixed point on the robot frame, the shape of the cable span is a generalized cone. We present an efficient method polar sorting to compute the surface of this cone. Furthermore, the found geometry of the cone is employed in the design of the cable anchor points in order to dimension its deflection capabilities and to compute a suitable orientation for the installation of the mechanical unit.
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Notes
- 1.
The effort for this kind of sorting is \(\log (N)\) for each element and it is internally done when using associative containers such as dict in Python or map in C++.
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Acknowledgements
The authors would like to thank the German Research Foundation (DFG) for financial support of the project within the Cluster of Excellence in Simulation Technology (EXC 310/1) at the University of Stuttgart.
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Pott, A. (2018). Determination of the Cable Span and Cable Deflection 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_10
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DOI: https://doi.org/10.1007/978-3-319-61431-1_10
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