Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots

Lionel Birglen,Marc Gouttefarde

doi:10.1007/978-3-030-20751-9_6

Stiffness of Planar 2-DOF 3-Differential Cable-Driven Parallel Robots

Lionel Birglen, Marc Gouttefarde

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https://doi.org/10.1007/978-3-030-20751-9_6

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Publication Date: Jan 1, 2019

Citations: 1

Affiliation: Montpellier Laboratory of Informatics, Robotics and Microelectronics, University of Montpellier, French National Centre for Scientific Research, Polytechnique Montréal

#Planar Cable-Driven Parallel Robots #Cable-Driven Parallel Robots + Show 8 more

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Abstract

Planar 2-degree-of-freedom (DOF) 3-differential Cable-Driven Parallel Robots (CDPRs) consist of a point-mass end-effector driven by a number of cables. Each cable is divided into four segments, three of them being connected to the point-mass end-effector by means of routing pulleys. This paper deals with the stiffness analysis of such planar 2-DOF 3-differential CDPRs. Based on the usual linear spring cable elongation model, the expression of the stiffness matrix is derived. The stiffness and workspace of several examples of planar 2-DOF 3-differential CDPRs are then compared. The results of these comparisons illustrate that the stiffness of planar CDPRs can be significantly improved by means of pulley differentials.

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