Abstract
The subject of this paper is about the relationship between the stiffness and the transparency of Cable-Driven Parallel Robots (CDPRs) used as human-machine interfaces in object comanipulation tasks. An index quantifying the transparency of a CDPR is first introduced. The stiffness of the robot is determined in simulation which parameters have been experimentally identified. Particular attention is paid to the effect of the Moving-Platform pose and cable tension management on CDPR stiffness. Then, the relationship between the stiffness and the transparency is analysed. Finally, the transparency index is traced throughout the constant-orientation static workspace and throughout the cable tension feasibility polygon for a given MP pose.
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Acknowledgements
This work was supported by the ANR CRAFT project, grant ANR-18-CE10-0004. https://anr.fr/Project-ANR-18-CE10-0004.
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Métillon, M., Charron, C., Subrin, K., Caro, S. (2022). Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_12
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