Cables Configuration Analysis for a planar CDPR, based on the Lowest Kinematic Energy for a Rotation Movement

Marco A. Carpio1, Raul E. Astudillo2, Jose Aller3, Roque J. Saltaren4, Alejandro Rodriguez4, Gerardo A. Portilla4, Juan S. Cely4

  • 1Universidad Politécnica Salesiana - Ecuador
  • 2Universidad
  • 3Universidad Politécnica Salesiana
  • 4Universidad Politécnica de Madrid



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09:10 - 10:30 | Wed 16 Oct | Andino | W4-1


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In the field of robotics, energy consumption is a very important factor that must be considered. Plenty of research focuses on optimizing the systems design in order to maximize energy efficiency. In cable driven parallel robots, the energy required for picking up or releasing is directly related to the geometric position of the links between the cables and the final effector. This article evaluates the configuration of a cable driven parallel robot with three degrees of freedom, and a rectangular final effector. For this reason the kinematics are analyzed with a Jacobean matrix using Screws theory considering different linkage points. Once the kinetic energy is obtained, we can determine an appropriate location in order to guarantee the lowest energy consumption possible. All calculations are done in a MATLAB environment and the results are corroborated with Adams View 2017.2 simulation software.

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