A Laser-Based Direct Cable Length Measurement Sensor for CDPRs

Accuracy improvement is an important research topic in the field of cable-driven parallel robots (CDPRs). One reason for inaccuracies CDPRs are deviations cable lengths. Such can be caused by elongation due to its elasticity or creep behavior. For most common CDPRs, lengths controlled using motor encoders winches, without feedback about actual cables. To address this problem, paper proposes a direct length measurement sensor based on laser distance sensor. We present mechanical design, first prototype and experimental evaluation. As result, principle works well accuracy measured within ?2.32 mm +1.86 compared range from ?5.19 +6.02 set with encoders. The standard deviation error 58% lower one Equipping all cables robot sensors results possibility correct thus increase CDPRs. Furthermore, it enables new possibilities like automatic recalibration home pose.