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    On the Problem of Position and Orientation Errors of a Large-Sized Cable-Driven Parallel Robot

    Received 19 September 2022; accepted 16 November 2022; published 16 December 2022

    2022, Vol. 18, no. 5, pp.  755-770

    Author(s): Marchuk E. A., Kalinin Y. V., Sidorova A. V., Maloletov A. V.

    This paper deals with the application of force sensors to estimate position errors of the center of mass of the mobile platform of a cable-driven parallel robot. Conditions of deformations of cables and towers of the robot are included in the numerical model and external disturbance is included too. The method for estimating the error in positioning via force sensors is sensitive to the magnitude of spatial oscillations of the mobile platform. To reduce torsional vibrations of the mobile platform around the vertical axis, a dynamic damper has been included into the system.
    Keywords: cable, robot, additive, printing, position, orientation, errors, force sensors
    Citation: Marchuk E. A., Kalinin Y. V., Sidorova A. V., Maloletov A. V., On the Problem of Position and Orientation Errors of a Large-Sized Cable-Driven Parallel Robot, Rus. J. Nonlin. Dyn., 2022, Vol. 18, no. 5, pp.  755-770
    DOI:10.20537/nd221209


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