Winch-Integrated Cable Force Measurement and Verification on Driven Cable Parallel Robot 6 D.o.F

A parallel robot was controlled by a cable that manipulated the end effector in the workspace. The force sensor was used to measure cable force, is placed near the drum. From there, the controller computes and executes the necessary control commands. The purpose of this work is to concentrate on string tension modeling and frictional compensation. The cable tension should be adjusted within the desired range, according to the tension measurements given on the winch's pulley side, to avoid sagging cable. The accuracy of the force measured at the force sensor is influenced by the pulley system. Simulate the Dahl model and the Coulomb model, from which you select the appropriate model to compensate for friction. This frictioncompensated model shows a 65% improvement in string tension accuracy compared to the uncompensated force.