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Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3

, , und . Proceedings of the 14th IFToMM World Congress (Oktober 2015)

Zusammenfassung

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.

Links und Ressourcen

DOI:
10.6567/IFToMM.14TH.WC.OS4.020
BibTeX-Schlüssel:
AL:P20150909001-201510-201510280027-201510280027-117-123
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