Cable-driven parallel robots exhibit intriguing characteristics and have found widespread application across diverse industrial and medical sectors that demand exceptional sensitivity. This study introduces a (3 DOF) cable-driven parallel robot, for which we have developed both kinematic and dynamic models, in addition to constructing a prototype. Various trajectories were systematically configured and rigorously validated, underscoring the robustness of the proposed model. Subsequently, a thorough exploration of the robot’s dynamic model was undertaken to delve into its dynamics. Experimental validation of the robot was conducted, accompanied by an error analysis.


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    Titel :

    Modeling and Experimental Validation of a 3 DOF Cable-Driven Parallel Robot


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Romdhane, Lotfi (Herausgeber:in) / Mlika, Abdelfattah (Herausgeber:in) / Zeghloul, Saïd (Herausgeber:in) / Chaker, Abdelbadia (Herausgeber:in) / Laribi, Med Amine (Herausgeber:in) / Ben Brahim, Hadhemi (Autor:in) / Ghrairi, Kaiss (Autor:in) / Kribi, Badreddine (Autor:in) / Lamine, Houssein (Autor:in) / Laribi, Med Amine (Autor:in)

    Kongress:

    IFToMM International Symposium on Robotics and Mechatronics ; 2024 ; Djerba, Tunisia April 17, 2024 - April 19, 2024


    Erschienen in:

    Robotics and Mechatronics ; Kapitel : 2 ; 13-22


    Erscheinungsdatum :

    25.09.2024


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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