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.


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    Title :

    Evaluation of a Cable-Driven Parallel Robot: Accuracy, Repeatability and Long-Term Running


    Additional title:

    Mechan. Machine Science



    Conference:

    International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021


    Published in:

    Cable-Driven Parallel Robots ; Chapter : 30 ; 375-388


    Publication date :

    2021-06-01


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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