The performance evaluation of Cable-Driven Parallel Robots in terms of accuracy, repeatability and long term capacities is a key for their industrial deployment. This paper presents and analyses corresponding experimental results for the PACE prototype, a fully-constrained, redundantly restrained, eight cables and six degrees of freedom cable-driven parallel robot. First, a long-term running test is carried out to evaluate the deviation of the moving-platform pose along time of use. A second experiment consists into a full design of experiments to evaluate the effect of some factors specific to this type of robot on its absolute accuracy and repeatability. Experimental results are presented and discussed.
Evaluation of a Cable-Driven Parallel Robot: Accuracy, Repeatability and Long-Term Running
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021
01.06.2021
14 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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