Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model | Zendy

Sana Baklouti | Zendy; Eric Courteille | Zendy; Stéphane Caro | Zendy; Mohamed A. Dkhil | Zendy

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Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots Based on a Nonlinear Cable Tension Model

Author(s) -

Sana Baklouti,

Eric Courteille,

Stéphane Caro,

Mohamed A. Dkhil

Publication year - 2017

Publication title -

journal of mechanisms and robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.591

H-Index - 45

eISSN - 1942-4310

pISSN - 1942-4302

DOI - 10.1115/1.4038068

Subject(s) - tension (geology) , nonlinear system , robot , dynamic tension , softening , elasticity (physics) , structural engineering , computer science , engineering , mechanical engineering , mechanics , control theory (sociology) , materials science , dynamic loading , physics , composite material , quantum mechanics , artificial intelligence , ultimate tensile strength , control (management)

International audienceIn this paper, dynamic modeling of cable-driven parallel robots (CDPRs) is addressed where each cable length is subjected to variations during operation. It is focusing on an original formulation of cable tension, which reveals a softening behavior when strains become large. The dynamic modulus of cable elasticity is experimentally identified through Dynamic Mechanical Analysis (DMA). Numerical investigations carried out on suspended CDPRs with different sizes show the effect of the proposed tension formulation on the dynamic response of the end-effector

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