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

Marceau Métillon (1, 2) , Nicolò Pedemonte (3) , Stéphane Caro (4, 1, 2)

1 CNRS - Centre National de la Recherche Scientifique
2 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
3 IRT Jules Verne - Institut de Recherche Technologique Jules Verne [Bouguenais]
4 LS2N - Laboratoire des Sciences du Numérique de Nantes

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 cabledriven 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.

Mots clés: parallel robot; cable; accuracy; repeatability; long-term running

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

Marceau Métillon, Nicolò Pedemonte, Stéphane Caro. Evaluation of a Cable-Driven Parallel Robot: Accuracy, Repeatability and Long-Term Running. In: Gouttefarde M., Bruckmann T., Pott A. (eds) Cable-Driven Parallel Robots. CableCon 2021. Mechanisms and Machine Science, 104, Springer, pp.375-388, 2021, ⟨10.1007/978-3-030-75789-2_30⟩. ⟨hal-03338533⟩