Direct Kinematic Singularities and Stability Analysis of Sagging Cable-driven Parallel Robots

Autor: Sébastien Briot, Jean-Pierre Merlet

Publikováno v: IEEE Transactions on Robotics
IEEE Transactions on Robotics, 2023, 39 (3), pp.2240-2254

International audience; Sagging cable-driven parallel robots (CDPRs) are often modeled by using the Irvine's model. We will show that their configurations may be unstable, and moreover, that assessing the stability of the robot with the Irvine's mode

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b00885e4b9a9b5a183af3864b1eb51e5
https://hal.science/hal-04007182

Mixing neural networks and the Newton method for the kinematics of simple cable-driven parallel robots with sagging cables

Autor: Ichrak Ben Yahia, Jean-Pierre Merlet, Yves Papegay

Publikováno v: 20th International Conference on ADVANCED ROBOTICS (ICAR)
20th International Conference on ADVANCED ROBOTICS (ICAR), Dec 2021, Ljulbjana, Slovenia
ICAR 2021-20th International Conference on advanced robotics
ICAR 2021-20th International Conference on advanced robotics, Dec 2021, Ljulbjana, Slovenia. ⟨10.1109/ICAR53236.2021.9659400⟩

International audience; Cable-driven parallel robots (CDPR) use cables to move a platform. These cables can be coiled/uncoiled by winches and are all attached to the platform. We are considering here a specific class of CDPR, called N-1 which has N c

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c1fafcb6c8634edc129f6794a4b449d5
https://hal.inria.fr/hal-03385003/document

Maximal cable tensions of a N-1 cable-driven parallel robot with elastic or ideal cables

Autor: Jean-Pierre Merlet

Publikováno v: CableCon 2021-Fifth International Conference on Cable-Driven Parallel Robots
CableCon 2021-Fifth International Conference on Cable-Driven Parallel Robots, Jul 2021, Virtual, France
CableCon 2021-5th International Conference on Cable-Driven Parallel Robots
CableCon 2021-5th International Conference on Cable-Driven Parallel Robots, Jul 2021, Virtual, France. ⟨10.1007/978-3-030-75789-2_7⟩
Mechanisms and Machine Science ISBN: 9783030757885

International audience; Determining what will be the maximal cable tensions of a cabledriven parallel robot (CDPR) when it moves over a given workspace is an important step in the design phase as it will allow to choose the cable diameter and to prov

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::66421cb8b0f626eb9a40a5e2b2f85efb
https://hal.inria.fr/hal-03284191/file/cablecon2021_v2.pdf

Some properties of the Irvine cable model and their use for the kinematic analysis of cable-driven parallel robots

Autor: Jean-Pierre Merlet

Publikováno v: Mechanism and Machine Theory
Mechanism and Machine Theory, Elsevier, 2019, 135, pp.271-280. ⟨10.1016/j.mechmachtheory.2019.02.009⟩
EUCOMES
EUCOMES, 2018, Aachen, Germany
EuCoMeS 2018 ISBN: 9783319980195
Mechanism and Machine Theory, 2019, 135, pp.271-280. ⟨10.1016/j.mechmachtheory.2019.02.009⟩

International audience; Cable model has a strong influence on the complexity of the kinematic analysis of cable-driven parallel robots (CDPR). The most complete elasto-static model relies on Irvine equation that takes into account both the elasticity

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e687aaf491e4c3b67e52942ffe2b79f6
https://doi.org/10.1016/j.mechmachtheory.2019.02.009

Failure Analysis of a Collaborative 4-1 Cable-Driven Parallel Robot

Autor: Jean-Pierre Merlet, Stéphane Caro

Publikováno v: Pisla D., Corves B., Vaida C. (eds) New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science
Springer. In: Pisla D., Corves B., Vaida C. (eds) New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science, 89, Springer, pp.440-447, 2020, 978-3-030-55060-8. ⟨10.1007/978-3-030-55061-5_50⟩
New Trends in Mechanism and Machine Science ISBN: 9783030550608
European Conference on Mechanism Science (EuCoMeS 2020): New Trends in Mechanism and Machine Science
European Conference on Mechanism Science (EuCoMeS 2020): New Trends in Mechanism and Machine Science, 89, pp.440-447, 2020, ⟨10.1007/978-3-030-55061-5_50⟩

Caro, S. and Merlet, J.P., “Failure Analysis of a Collaborative 4-1 Cable-Driven Parallel Robot”, Proceedings of the 8th European Conference on Mechanism Science (EuCoMeS2020), Cluj-Napoca, Romania, September 7–10, 2020; International audience;

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f988467ec454fd100f029355ede6f975
https://hal.science/hal-02554848/file/Eucomes2020_paper065_Caro_Merlet_FV.pdf