Sensitivity analysis of the elasto-geometrical model of cable-driven parallel robots

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.

Mots clés

Reconfigurable Parallel robots Mechanical errors Moving platform Geometrical modeling External loads Uncertainty analysis Robots Geometry Static deflections Sensitivity analysis Robust modeling Cables Error analysis

Domaines

Génie civil Génie mécanique [physics.class-ph]

Fichier principal

Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots - Cablecon2017.pdf (3.15 Mo)

Origine	Fichiers produits par l'(les) auteur(s)

Laurent Jonchère : Connectez-vous pour contacter le contributeur

https://univ-rennes.hal.science/hal-01619371

Soumis le : mercredi 11 décembre 2019-16:26:04

Dernière modification le : jeudi 17 octobre 2024-10:14:04

Archivage à long terme le : jeudi 12 mars 2020-21:33:00

Dates et versions

hal-01619371 , version 1 (11-12-2019)

Identifiants

HAL Id : hal-01619371 , version 1
DOI : 10.1007/978-3-319-61431-1_4

Citer

Sana Baklouti, Stéphane Caro, Eric Courteille. Sensitivity analysis of the elasto-geometrical model of cable-driven parallel robots. 3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017, Aug 2017, Quebec City, Canada. ⟨10.1007/978-3-319-61431-1_4⟩. ⟨hal-01619371⟩

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