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Article Dans Une Revue Journal of Mechanisms and Robotics Année : 2021

Cable behavior influence on Cable-Driven Parallel Robots vibrations: experimental characterization and simulation

Damien Gueners
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Belhassen-Chedli Bouzgarrou
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Hélène Chanal

Résumé

In this paper, the influence of cable behavior, on Cable Driven Parallel Robots (CDPR) is studied. This study is conducted with the goal of designing a medium size CDPR for additive manufacturing. This robot needs to have a high level of rigidity to guarantee a given tracking tool path error. Firstly, the characterization of different thin cables (steel, Dyneema®, aramid) is presented. The mechanical properties of these cables, in terms of stiffness, damping, hysteresis and creep are compared with regard to additive manufacturing applications. A stiffness model, which takes into account the cable preload, and a dynamic model of CDPR is proposed. The simulations of these two models are compared with experimental results obtained for the range of cables studied using dynamic stiffness analysis on an 8-cable fully constrained CDPR. This paper concludes on the type of cable that should be chosen for our application.
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Dates et versions

hal-03135509 , version 1 (09-02-2021)

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Damien Gueners, Belhassen-Chedli Bouzgarrou, Hélène Chanal. Cable behavior influence on Cable-Driven Parallel Robots vibrations: experimental characterization and simulation. Journal of Mechanisms and Robotics, 2021, pp.1-54. ⟨10.1115/1.4049978⟩. ⟨hal-03135509⟩
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