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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    Title :

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


    Additional title:

    Mechan. Machine Science



    Conference:

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


    Published in:

    Robotics and Mechatronics ; Chapter : 2 ; 13-22


    Publication date :

    2024-09-25


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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