Abstract
Cables are considered perfectly flexible in the classic modeling without flexural rigidity and with purely tangential cable forces. In this paper, a static modeling of cables is presented where flexural rigidity and shear forces are considered. The calculation details are presented with and without considering the axial extensibility of cables for three problems where one of the parameters including cable length, end point positions and forces is determined by knowing the two others. The effects of considering flexural rigidity and shear forces are then analyzed on a simple example of a cable-driven parallel robot consisting of a point mass attached to two cables.
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Acknowledgements
The research leading to these results has received funding from the European Union’s H2020 Programme (H2020/2014-2020) under grant agreement No. 732513.
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Hussein, H., Gouttefarde, M., Pierrot, F. (2019). Static Modeling of Sagging Cables with Flexural Rigidity and Shear Forces. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_36
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DOI: https://doi.org/10.1007/978-3-319-93188-3_36
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