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Communication Dans Un Congrès Année : 2021

Optimizing Cable-Routing for Reconfigurable Cable-Driven Parallel Robots

Résumé

Reconfigurable cable-driven parallel robots have proved to be very effective in tasks involving complex and cluttered environments. This paper presents a methodology for determining an appropriate cable routing between the cable exit points and the winches. The cable exit points are defined beforehand and the pulleys can be discretely positioned on the robot frame. A six-degree-of-freedom (6-DOF) reconfigurable cable-driven parallel robot is used as an illustrative example. The locations and connections between all pulleys are obtained based on structural and mechanical constraints, mainly imposed by the pulleys. Two specific cases are studied and the optimal configuration for each case is presented in an illustrative and quantitative manner.
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Dates et versions

hal-03338563 , version 1 (08-09-2021)

Identifiants

  • HAL Id : hal-03338563 , version 1

Citer

Utkarsh A Mishra, Stéphane Caro, Marc Gouttefarde. Optimizing Cable-Routing for Reconfigurable Cable-Driven Parallel Robots. ReMAR 2021 - 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Aug 2021, Toronto, Canada. ⟨hal-03338563⟩
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