Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots

被引：10

作者：

Baklouti, Sana ^{[1
]}

Caro, Stephane ^{[2
]}

Courteille, Eric ^{[1
]}

机构：

[1] Univ Bretagne Loire, INSA LGCGM EA 3913, 20 Ave Buttes Coesmes, F-35043 Rennes, France

[2] CNRS, UMR CNRS n6004, Lab Sci Numer Nantes, 1 Rue Noe, F-44321 Nantes, France

来源：

CABLE-DRIVEN PARALLEL ROBOTS | 2018年 / 53卷

关键词：

D O I：

10.1007/978-3-319-61431-1_4

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with the sensitivity analysis of the elasto-geometrical model of Cable-Driven Parallel Robots (CDPRs) to their geometric and mechanical uncertainties. This sensitivity analysis is crucial in order to come up with a robust model-based control of CDPRs. Here, 62 geometrical and mechanical error sources are considered to investigate their effect onto the static deflection of the moving-platform (MP) under an external load. A reconfigurable CDPR, named "CAROCA", is analyzed as a case of study to highlight the main uncertainties affecting the static deflection of its MP.

引用

页码：37 / 49

页数：13

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