New Sensor Device to Accurately Measure Cable Tension in Cable-Driven Parallel Robots

Cable-driven parallel robots are a special type of robot in which an end-effector is attached to fixed frame by means several cables. The position and orientation the can be controlled controlling length These present wide range advantages, control algorithms required have greater complexity than those traditional serial robots. Measuring cable tension important task this as many rely on information. There well-known approaches measure robots, where trade-off between accuracy observed. This work presents new device based strain gauges specially designed applied cable-driven easily mounted near frame, allowing change freely, while taken before passes through guiding pulleys for improved accuracy. results obtained from show strong repeatability linearity measures