7 accepted papers
This paper presents the further developments and preliminary results of a large 3D printing machine based on a 3 d.o.f cable-driven parallel robot (CDPR) that is used for an artistic exhibition. The printing material is a powder constituted of glass micro-beads that is deposited on a fixed trajector…
This paper presents the development and results of a large 3 d.o.f cable-driven parallel robot (CDPR) that has been extensively used between June and August 2019 for an artistic exhibition. The purpose of the exhibition was to 3D print a wall of glass powder, which will slowly collapse after the dep…
Positioning accuracy of cable-driven parallel robots is influenced by many factors such as geometry, actuator sensor accuracy and disturbances in the applied wrench. Another uncertainty source is the elasticity of the cables. While the influence of many factors may be decreased by calibration and/or…
This paper addresses for the first time the singularity analysis of cable-driven parallel robot (CDPR) with sagging cables using the Irvine model. We present the mathematical framework of singularity analysis of CDPR using this cable model. We then show that, besides a cable model representation sin…
Solving the direct kinematics (DK) of cable-driven parallel robots (CDPR) based only on the cable length measurements is a demanding problem that is still not well mastered, especially for robots having sagging cables. A model-based approach may be used to solve this problem but the model parameters…
Direct kinematics (DK) of cable-driven parallel robots (CDPR) based only on cable lengths measurements is a complex issue even with ideal cables and consequently even harder for more realistic cable models such as sagging cable. A natural way to simplify the DK solving is to add sensors. We consider…
Solving the direct kinematics (DK) of parallel robots, i.e. finding all the possible poses of the platform for given input values, is most of the time a difficult problem. This is evidently true for cable-driven parallel robots (CDPR) that are more complex than classical parallel robot because of th…