Elasto-Static Modelling and Identification of a Deployable Cable-Driven Parallel Robot with Compliant Masts - l'unam - université nantes angers le mans Access content directly
Conference Papers Year : 2024

Elasto-Static Modelling and Identification of a Deployable Cable-Driven Parallel Robot with Compliant Masts

Abstract

Some cable-driven parallel robots (CDPRs) can be rapidly deployed on-site. To achieve such deployability, the fixed frame is usually substituted by four masts. However, not having any rigid fixture between the masts reduces the overall stiffness of the CDPR. This paper introduces a CDPR called Rocaspect, that has four compliant masts. The robot behavior and accuracy is evaluated experimentally and three different mast models are proposed.

Domains

Automatic
Fichier principal
Vignette du fichier
ICRA2024_Zake_Caro.pdf (4.69 Mo) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-04671108 , version 1 (13-08-2024)

Licence

Identifiers

Cite

Zane Zane, Stéphane Caro. Elasto-Static Modelling and Identification of a Deployable Cable-Driven Parallel Robot with Compliant Masts. 2024 IEEE International Conference on Robotics and Automation (ICRA), May 2024, Yokohama, Japan. pp.4744-4750, ⟨10.1109/ICRA57147.2024.10610703⟩. ⟨hal-04671108⟩
4 View
1 Download

Altmetric

Share

Gmail Mastodon Facebook X LinkedIn More