Abstract
A novel criterion is introduced in this paper to determine the set of cable tensions for Cable-Driven Parallel Robots (CDPRs) with the aim of maximizing the robot stiffness along a specific direction. Based on the feasible polygon of the CDPR and its stiffness matrix, an algorithm selects the set of admissible cable tensions leading to the smallest moving-platform displacement, the moving-platform being subject to an external wrench. The proposed tension distribution is implemented in a control scheme and experimented on a fully-constrained CDPR for a window cleaning application.
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Acknowledgements
The authors wish to associate the industrial and academic partners of IRT Jules Verne in the framework of the ROCKET project, namely Chantiers de l’Atlantique, Clemessy, B&R Automation, Clarté and CNRS.
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Picard, E., Caro, S., Plestan, F., Claveau, F. (2021). Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots. In: Lenarčič, J., Siciliano, B. (eds) Advances in Robot Kinematics 2020. ARK 2020. Springer Proceedings in Advanced Robotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-030-50975-0_26
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