Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots

Etienne Picard (1, 2, 3) , Stéphane Caro (3, 4, 2) , Franck Plestan (5, 3, 6) , Fabien Claveau (7, 6, 3)

1 IRT Jules Verne - Institut de Recherche Technologique Jules Verne [Bouguenais]
2 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
3 LS2N - Laboratoire des Sciences du Numérique de Nantes
4 CNRS - Centre National de la Recherche Scientifique
5 ECN - École Centrale de Nantes
6 LS2N - équipe Commande - Commande
7 IMT Atlantique - IMT Atlantique

A novel criterion is introduced in this paper to determine the set of cable tensions for Cable-Driven Parallel Robots (CDPRs) with the aim of maximizing the robot stiffness along a specific direction. Based on the feasible polygon of the CDPR and its stiffness matrix, an algorithm selects the set of admissible cable tensions leading to the smallest moving-platform displacement, the moving-platform being subject to an external wrench. The proposed tension distribution is implemented in a control scheme and experimented on a fully-constrained CDPR for a window cleaning application.

Mots clés: Cable-driven parallel robot; Tension Distribution Algorithm; Stiffness; Control; Experiments

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

Etienne Picard, Stéphane Caro, Franck Plestan, Fabien Claveau. Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots. In : Lenarcic J., Siciliano B. (eds) Advances in Robot Kinematics 2020. ARK 2020. Springer Proceedings in Advanced Robotics, 15, pp.209-217, 2020, 978-3-030-50974-3. ⟨10.1007/978-3-030-50975-0_26⟩. ⟨hal-02515911⟩