Sensitivity Analysis of the Design Parameters for the Calibration of Cable‐driven Parallel Robots

摘要

Abstract Uncertainties in the kinematic parameters like the pulley positions take a major influence onto the force capability of a cable‐driven parallel robot. For that purpose this paper describes a calibration method to estimate exactly the underlying kinematic parameters. As the kinematic is influenced by a variety of different parameter, the calibration can be very complex and time consuming. In this approach, a sensitivity analysis of a cable‐driven parallel robot is presented to simplify and enhance the calibration. The results are discussed and the further steps are introduced. (© 2016 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)