Abstract
In this paper, dynamic modeling of cable-driven parallel robots (CDPRs) is addressed where each cable length is subjected to variations during operation. It is focusing on an original formulation of cable tension, which reveals a softening behavior when strains become large. The dynamic modulus of cable elasticity is experimentally identified through dynamic mechanical analysis (DMA). Numerical investigations carried out on suspended CDPRs with different sizes show the effect of the proposed tension formulation on the dynamic response of the end-effector.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Paper version not known
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
