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 Journal Article
%1 AL:P20150909001-201510-201510280027-201510280027-117-123
%A Tempel, Philipp
%A Miermeister, Philipp
%A Pott, Andreas
%D 2015
%I 國立臺灣大學機械系
%J Proceedings of the 14th IFToMM World Congress
%K cable-driven cable-robot dynamics kinematics modeling myown parallel robots
%N 14th-2
%P 117-123
%R 10.6567/IFToMM.14TH.WC.OS4.020
%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.
@article{AL:P20150909001-201510-201510280027-201510280027-117-123,
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 = {2015-11-05T17:27:00.000+0100},
author = {Tempel, Philipp and Miermeister, Philipp and Pott, Andreas},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/2a548f40a68a487e59ca8a2324a074462/philipptempel},
doi = {10.6567/IFToMM.14TH.WC.OS4.020},
interhash = {41c9eb2026b6b2316d264b040956d509},
intrahash = {a548f40a68a487e59ca8a2324a074462},
journal = {Proceedings of the 14th IFToMM World Congress},
keywords = {cable-driven cable-robot dynamics kinematics modeling myown parallel robots},
language = {英文},
month = oct,
number = {14th-2},
pages = {117-123},
publisher = {國立臺灣大學機械系},
timestamp = {2016-03-09T10:41:39.000+0100},
title = {Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3},
year = 2015
}