An Approach for Predicting the Calibration Accuracy in Planar Cable-Driven Parallel Robots

International audienceThis paper presents a simulation of the calibration of a 3-DoF, 2-cable, planar cable-driven parallel robot (CDPR). The calibration is realized with the combination of a laser displacement sensor and an inclinometer attached to the moving platform. The actual accuracies of the sensors are tested at first for higher calibration quality. Through simulation, with more measurement poses used, the system variable identification errors are reduced, and have decreasing dispersion, finally form plateaus. The effect of each sensor on the calibration quality is studied. Based on the sensors considered in this work, the system variable errors are all within ±9 mm, and most are within ±5 mm for 5.209 m-span CDPR