Towards Solving Cable-Driven Parallel Robot Inaccuracy due to Cable Elasticity
Adolfo Suárez Roos,Zane Zake,Tahir Rasheed,Nicolò Pedemonte,Stéphane Caro,Adolfo Suárez Roos,Zane Zake,Tahir Rasheed,Nicolò Pedemonte,Stéphane Caro
Cable elasticity can significantly impact the accuracy of Cable-Driven Parallel Robots (CDPRs). However, it’s frequently disregarded as negligible in CDPR simulations and designs. In this paper, we propose a numerical approach, referred to as SEECR, which is designed to estimate the behavior of a CDPR featuring elastic cables while ensuring the Static Equilibrium (SE) of the Moving-Platform (MP). ...
