In this paper, the kinematics and dynamics modeling of the mechatronic model for a 6 DOF cable-driven parallel robot are covered and a real-time capable simulation model for such robots is derived. The governing equations of motion of the mobile platform are acquired using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a spring-damper based cable model are introduced. Once the equations of motion are derived, closed-form force distribution is implemented and simulation results of the real-time capable model for the cable-driven parallel robot IPAnema 3 is presented. Given the real-time capability, the established model can be used for hardware-in-the-loop simulation or controller design, but also for case studies of highly dynamic or large-scale robots.
%0 Conference Paper
%1 Tempel2015c
%A Tempel, Philipp
%A Miermeister, Philipp
%A Pott, Andreas
%B Proceedings of the 14th IFToMM World Congress
%C Taipei
%D 2015
%K Cable-driven Import180214; modeling;dynamics; myown; parallel robot; simulation;hardware-in-the-loop system
%P 117--123
%T Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3
%X In this paper, the kinematics and dynamics modeling of the mechatronic model for a 6 DOF cable-driven parallel robot are covered and a real-time capable simulation model for such robots is derived. The governing equations of motion of the mobile platform are acquired using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a spring-damper based cable model are introduced. Once the equations of motion are derived, closed-form force distribution is implemented and simulation results of the real-time capable model for the cable-driven parallel robot IPAnema 3 is presented. Given the real-time capability, the established model can be used for hardware-in-the-loop simulation or controller design, but also for case studies of highly dynamic or large-scale robots.
%@ 978-986-04-6098-8
@inproceedings{Tempel2015c,
abstract = {In this paper, the kinematics and dynamics modeling of the mechatronic model for a 6 DOF cable-driven parallel robot are covered and a real-time capable simulation model for such robots is derived. The governing equations of motion of the mobile platform are acquired using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a spring-damper based cable model are introduced. Once the equations of motion are derived, closed-form force distribution is implemented and simulation results of the real-time capable model for the cable-driven parallel robot IPAnema 3 is presented. Given the real-time capability, the established model can be used for hardware-in-the-loop simulation or controller design, but also for case studies of highly dynamic or large-scale robots.},
added-at = {2018-02-14T08:37:06.000+0100},
address = {Taipei},
author = {Tempel, Philipp and Miermeister, Philipp and Pott, Andreas},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/2e86c0829751529aff692de6146b7852f/andreaspott},
booktitle = {Proceedings of the 14th IFToMM World Congress},
interhash = {41c9eb2026b6b2316d264b040956d509},
intrahash = {e86c0829751529aff692de6146b7852f},
isbn = {978-986-04-6098-8},
keywords = {Cable-driven Import180214; modeling;dynamics; myown; parallel robot; simulation;hardware-in-the-loop system},
pages = {117--123},
timestamp = {2018-02-14T08:08:40.000+0100},
title = {Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3},
year = 2015
}