Stiffness optimization of a cable driven parallel robot for additive manufacturing

被引：0
|
作者：
Gueners, D. [1 ]
Chanal, H. [1 ]
Bouzgarrou, B. C. [1 ]
机构：
[1] Univ Clermont Auvergne, Inst Pascal, CNRS, Sigma Clermont, Clermont Ferrand, France
来源：
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2020年
关键词：
D O I：
10.1109/icra40945.2020.9197368
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the optimization of the anchor points of a cable driven parallel robot (CDPR) for 3D printing is proposed in order to maximize the rigidity. Indeed, in the context of 3D printing, robot stiffness should guarantee a high level of tool path following accuracy. The optimized platform showed a rigidity improvement in simulation, but also experimentally with a first study of vibration modes. In the same time, this study illustrates the influence of preload in cables on the platform rigidity.
引用
收藏
页码：843 / 849
页数：7
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