Planar cable robot with non straight cables

Assumed-mode-based dynamic model for cable robots with non-straight cables

This Maple script comes with the publication by J. Ayala Cuevas et al. about modeling of a planar cable-driven parallel manipulator with a point platform. It derives step by step the model. Feel free to ask Edouard for a Maple version.

Maple script

J. Ayala Cuevas, E. Laroche, O. Piccin. Assumed-mode-based dynamic model for cable robots with non-straight cables, Third International Conference on Cable-Driven Parallel Robots, Mechan. Machine Science, Vol. 53, Québec, Canada, août 2017, doi:10.1007/978-3-319-61431-1_2

See also the later publications by R. Saadaoui et al.:

• R. Saadaoui, E. Laroche, G. Bara, O. Piccin. H ∞ Control of a Planar 3-DOF Flexible-Cable Manipulator, 10th IFAC Symposium on Robust Control Design ROCOND 2022, Selective conference, Kyoto, Japan, août 2022.
• R. Saadaoui, O. Piccin, H. Omran, G. Bara, E. Laroche. Control-Oriented Modeling of a Planar Cable-Driven Parallel Robot with Non-Straight Cables, 10th European Nonlinear Dynamics Conferences ENOC22, Lyon, France, juillet 2022.
• R. Saadaoui, G. Bara, H. Omran, O. Piccin, E. Laroche. H ∞ Synthesis for a Planar Flexible Cable-Driven Robot, European Control Conference 2021, Selective conference, pp. 710-715, Rotterdam, Netherlands, juillet 2021.