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2015 | OriginalPaper | Chapter

An Elastic Cable Model for Cable-Driven Parallel Robots Including Hysteresis Effects

Authors : Philipp Miermeister, Werner Kraus, Tian Lan, Andreas Pott

Published in: Cable-Driven Parallel Robots

Publisher: Springer International Publishing

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Abstract

Experimental results indicate that time invariant linear elastic models for cable-driven parallel robots show a significant error in the force prediction during operation. This paper proposes the use of an extended model for polymer cables which allows to regard the hysteresis effects depending on the excitation amplitude, frequency, and initial tension level. The experimental design as well as the parameter identification are regarded.

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previous chapter The Forward Kinematics of Cable-Driven Parallel Robots with Sagging Cables

next chapter On the Improvement of Cable Collision Detection Algorithms

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Title: An Elastic Cable Model for Cable-Driven Parallel Robots Including Hysteresis Effects
Authors: Philipp Miermeister
Werner Kraus
Tian Lan
Andreas Pott
Publisher: Springer International Publishing
Book: Cable-Driven Parallel Robots
Print ISBN: 978-3-319-09488-5

Electronic ISBN: 978-3-319-09489-2

Copyright Year: 2015
DOI: https://doi.org/10.1007/978-3-319-09489-2_2