PUMA publications for /tag/ACCURACY;%20myown;https://puma.ub.uni-stuttgart.de/tag/ACCURACY;%20myown;PUMA RSS feed for /tag/ACCURACY;%20myown;2024-03-28T21:27:40+01:00Increase of position accuracy for cable-driven parallel robots using a model for elongation of plastic fiber ropeshttps://puma.ub.uni-stuttgart.de/bibtex/2a94af3051390a15f7b9b5a1c8a18ef49/andreaspottandreaspott2018-02-14T08:37:06+01:00Accuracy; Cable-driven Elongation; Import180214; Real-time computation; modeling; myown; parallel robots; <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Valentin Schmidt" itemprop="url" href="/person/187193bab74df5bf72711744f58d5c4bb/author/0"><span itemprop="name">V. Schmidt</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Andreas Pott" itemprop="url" href="/person/187193bab74df5bf72711744f58d5c4bb/author/1"><span itemprop="name">A. Pott</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">Mechanisms and Machine Science</span>, </em><em> 43, </em></span>(<em><span>2017<meta content="2017" itemprop="datePublished"/></span></em>)</span>Wed Feb 14 08:37:06 CET 2018Mechanisms and Machine Science335--343Increase of position accuracy for cable-driven parallel robots using a model for elongation of plastic fiber ropesPublication432017Accuracy; Cable-driven Elongation; Import180214; Real-time computation; modeling; myown; parallel robots; \copyright Springer International Publishing Switzerland 2017. This paper investigates the modeling of elongation in plastic fiber ropes for cable-driven parallel robots. The aim is to increase the accuracy of such amachine by incorporating a simple model for cable elongation when a force is applied. Several other modeling techniques already exist which take into account pulleys, cable mass, and the cables' Young's modulus. Their calculation is involved and accuracy improvements are yet to be verified completely. Here, a simpler model which only takes into account a theoretical force, based on robot geometry, at a given pose and measured elongation coefficients is proposed. It is implemented and verified experimentally, on the fully constrained IPAnema 3 prototype. It is shown to give an accuracy improvement of two fifths, from 46.5mm to 29.0mm average position deviation.