Autocalibration Subsystem for Cable-Driven Parallel Robots

TL;DR

This paper introduces an autocalibration system for cable-driven parallel robots that uses inductive sensors and metallic marks to accurately measure and adjust cable lengths, enhancing robot performance.

Contribution

A novel cable length autocalibration subsystem employing metallic marks and inductive sensors for real-time cable length measurement and adjustment.

Findings

Improved accuracy in cable length measurement.

Potential for continuous cable length adjustment.

Enhanced robot performance through better calibration.

Abstract

For Cable-Driven Parallel Robots, the cable length is the only element we control. Better knowledge of this parameter will improve robot performances. We propose a new cable length autocalibration subsystem. It consists of an instrumented cable, inductive sensors and a controller for digital data processing. Cable would be instrumented by metallic marks, with variation in distance between successive marks. Inductive sensors will allow the detection of metallic marks; it will be placed vertically on the support, with variation in distance between successive sensors. Each detection will correspond to a cable length. By analyzing the succession of cable lengths detected at particular moments, we can identify our position on the cable, then deduce its length. A closed-loop autocalibration may allow continuous cable length adjustment.