Abstract
Cable-driven parallel robots manipulating heavy payloads typically use cables having non-negligible diameters and mass. The associated cable guiding pulleys may then have non-negligible radii whose influence on the robot kinematics can hardly be neglected. This chapter focuses on the output pulleys from which the cables extend to the robot mobile platform. A kinetostatic analysis of cable-driven parallel robots considering both cable mass and output pulleys is presented.
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Acknowledgments
The research leading to these results has received funding from the European Communitys Seventh Framework Programme under grant agreement No. NMP2-SL-2011-285404 (CABLEBOT).
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Gouttefarde, M., Nguyen, D.Q., Baradat, C. (2014). Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_23
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DOI: https://doi.org/10.1007/978-3-319-06698-1_23
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