Abstract
This paper presents numerical and experimental results for an analysis of the effects of cable’s mass and elasticity in cable-based parallel manipulators. It will be shown, through numerical simulation and experimental results, that effects of these characteristics cannot be always neglected, because they affect the pose capability of the end-effector. A planar 2 cable point-mass manipulator is considered as a case of study. The model and results can be further extended to all classes of cable-based manipulators, such as under or fully constrained types.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Bibliography
Behzadipour, S., Khajepour, A. (2006). Stiffness of Cable-Based Parallel Manipulators with Application to Stability Analysis. Jnl. Mech. Des. 128(1), 303–310.
Bouchard, S. Gosselin, C. M. (2006). „Kinematic Sensitivity of a Very Large Cable-Driven Parallel Mechanism“, ASME DETC’06, Philadelphia, paper n. DETC2006-99222.
Castelli. G. (2010). Analysis, Modeling and Experimentation of Cable-Based Manipulators. PhD thesis, University of Cassino.
Diao. X. and Ma. O. (2009). Vibration Analysis of Cable-Driven Parallel Manipulators. Multibody System Dyamies. 21, 347–360.
Irvine, H. (1981). Cable Structures. Cambridge, MA: MET Press.
Kawamura, S., Kino, H., Won, C. (2000). High-Speed Manipulation by Using a Parallel Wire-Driven Robots. Robotica, 18, 13–21.
Kozak, K, Zhou, Q., Wang, J. (2006). Static Analysis of Cable-Driven Manipulators with Non-Negligible Cable Mass. IEEE Trans, on Robotics, 22 (3), 425–433.
Riehl, N., Gouttefarde, M., Knit, S., Baradat, C., Pienot, F., (2009). Effects on Non-Negligible Cable Mass on the Behavior of Large Workspace Cable-Driven Parallel Mechanism. IEEE Int. Conf. Robotics andAutom., Kobe, pp. 2193–2198.
Verhoeven, R. (2004). Analysis of the Workspace of Tendon-Based Stewart Platforms. PhD thesis, University ofDuisburg-Essen.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 CISM, Udine
About this paper
Cite this paper
Ottaviano, E., Castelli, G. (2010). A Study on the Effects of Cable Mass and Elasticity in Cable-Based Parallel Manipulators. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_17
Download citation
DOI: https://doi.org/10.1007/978-3-7091-0277-0_17
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-0276-3
Online ISBN: 978-3-7091-0277-0
eBook Packages: EngineeringEngineering (R0)