Abstract
This paper focuses on the stiffness analysis of cable-driven parallel robots (CDPRs), including the static stiffness and the dynamic stiffness analyses. Static and dynamic cable models are introduced considering the effect of both cable mass and elasticity. Based on these models, the static stiffness of CDPRs is evaluated by the variation of the end-effector pose error, and the dynamic stiffness of CDPRs is analyzed by identifying the robot natural frequencies. Simulations and experiments are made on a 6-DOF prototype to validate the theoretical models. Comparison with other methods available in literature is presented. Results show the important effect of cable mass and elasticity on the static and dynamic stiffness of CDPRs.
Sign-in/Register to access full text options 
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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
