Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization

Dinh Quan Nguyen; Marc Gouttefarde

doi:10.1007/978-3-319-06698-1_20

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Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization

Dinh Quan Nguyen and Marc Gouttefarde

Advances in Robot Kinematics, pp.181-191

ARK: Advances in Robot Kinematics (Ljubljana, Slovenia, 29/06/2014–03/07/2014)

2014

DOI: https://doi.org/10.1007/978-3-319-06698-1_20

Abstract

Cable-driven parallel robots

Stiffness

Homogenization

In this paper, several issues of the stiffness matrix of a general 6-DOF Cable-Driven Parallel Robot (CDPR) are addressed. First, the stiffness matrix of a CDPR with hefty cable is derived analytically. Then, a homogenization of this stiffness matrix is introduced. The discussion on this procedure gives an intuitive meaning of the stiffness matrix of the CDPR and its homogeneous form. This analysis can be used to solve a set of CDPR design problems.

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Title: Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization
Creators - without role: Dinh Quan Nguyen - Centre National de la Recherche Scientifique
Marc Gouttefarde - Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier
Publication Details: Advances in Robot Kinematics, pp.181-191
Conference: ARK: Advances in Robot Kinematics (Ljubljana, Slovenia, 29/06/2014–03/07/2014)
Grant note: European Community FP7
Identifiers: 9947799109311
Academic Unit: Laboratoire d'Informatique de Robotique et de Microélectronique de Mtp - LIRMM
Language: English
Resource Type: Book chapter
Local Fields: lirmm-01221404