Abstract
Determining what will be the maximal cable tensions of a cable-driven parallel robot (CDPR) when it moves over a given workspace is an important step in the design phase as it will allow to choose the cable diameter and to provide a requested information for tuning the CDPR actuation. In this paper we consider a suspended N-1 CDPR with n cables where all cables are attached at the same point, which leads to a 3-dof robot. We assume a quasi-static behavior of the robot and assume that the cable are either ideal or elastic so that we neglect the sagging effect. Under these assumption we show that the maximum of the cable tensions may be determined in a very fast way by solving a set of second-order polynomials which will lead to the poses at which the maximum of each cable tension will occur. For example for a four-cables CDPR determining the maximal cable tension requires to solve at most 149 s order polynomials.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Merlet, J.-P.: Efficient estimation of the extremal articular forces of a parallel manipulator in a translation workspace. In: IEEE International Conference on Robotics and Automation, Louvain, 18–20 May 1998, pp. 1982–1987 (1998)
Flores, F.G., Kecskeméthy, A., Pöttker, A.: Workspace analysis and maximal force calculation of a face-shovel excavator using kinematical transformers. In: 12th IFToMM World Congress on the Theory of Machines and Mechanisms, Besancon, 18–21 June 2007 (2007)
Ur-Rehman, R., Caro, S., Chablat, D., Wenger, P.: Multi-objective path placement of parallel kinematics machines based on energy consumption, shaking forces and maximum actuator torques: application to the Orthoglide. Mech. Mach. Theory 45(8), 1125–1141 (2010)
Merlet, J.-P.: Simulation of discrete-time controlled cable-driven parallel robots on a trajectory. IEEE Trans. Robot. 33(3), 675–688 (2017)
Gouttefarde, M., Gosselin, C.M.: Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms. IEEE Trans. Robot. 22(3), 434–445 (2006)
Lau, D., Oetomo, D., Halgamuge, S.K.: Wrench-closure workspace generation for cable driven parallel manipulators using a hybrid analytical-numerical approach. ASME J. Mech. Des. 133(7), 071004 (2011)
Ouyang, B., Shang, W.-W.: Wrench-feasible workspace based optimization of the fixed and moving platforms for cable-driven parallel manipulators. Robot. Comput.-Integr. Manufact. 30(6), 629–635 (2014)
Pott, A., Kraus, W.: Determination of the wrench-closure translational workspace in closed-form for cable-driven parallel robots. In: IEEE International Conference on Robotics and Automation, Stockholm, 16–20 May 2016 (2016)
Bury, D., et al.: Continuous tension validation for cable-driven parallel robots. In: IEEE International Conference on Intelligent Robots and Systems (IROS), Las Vegas, 25–29 October 2020 (2020)
Borgstrom, P.H., et al.: Rapid computation of optimally safe tension distributions for parallel cable-driven robots. IEEE Trans. Robot. 25(6), 1271–1281 (2009)
Bruckmann, T., Pott, A., Hiller, M.: Calculating force distributions for redundantly actuated tendon-based Stewart platforms. In: ARK, Ljubljana, 26–29 June 2006, pp. 403–412 (2006)
Fortin-Côté, A., Cardou, P., Gosselin, C.: A tension distribution algorithm for cable-driven parallel robots operating beyond their wrench-feasible workspace. In: 6th International Conference on Control, Automation and Systems (ICCAS), Gyeongju, 16–19 October 2016 (2016)
Gouttefarde, M., et al.: A versatile tension distribution algorithm for n-DOF parallel robots driven by n + 2 cables. IEEE Trans. Robot. 31(6), 1444–1457 (2015)
Barrette, G., Gosselin, C.: Determination of dynamic workspace of cable-driven planar parallel mechanisms. ASME J. Mech. Des. 127(2), 242–248 (2005)
Korayem, M.H., Bamdad, M.: Dynamic load-carrying capacity of cable-suspended parallel manipulators. Int. J. Adv. Manuf. Technol. 44(7–8), 829–840 (2009)
Kraus, W., Pott, A.: Scenario-based dimensionning of the actuator of parallel cable-driven robots. In: 4th European Conference on Mechanism Science (Eucomes), Santander, 19–21 September 2012, pp. 131–139 (2012)
Riehl, N., et al.: On the determination of cable characteristics for large dimension cable-driven parallel mechanisms. In: IEEE International Conference on Robotics and Automation, Anchorage, 3–8 May 2010, pp. 4709–4714 (2010)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Merlet, JP. (2021). Maximal Cable Tensions of a N-1 Cable-Driven Parallel Robot with Elastic or Ideal Cables. In: Gouttefarde, M., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. CableCon 2021. Mechanisms and Machine Science, vol 104. Springer, Cham. https://doi.org/10.1007/978-3-030-75789-2_7
Download citation
DOI: https://doi.org/10.1007/978-3-030-75789-2_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-75788-5
Online ISBN: 978-3-030-75789-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)