This paper covers the kinematics and dynamics modelling of the mechatronic model for a 6 DOF cable-driven parallel robot and derives a real-time capable simulation model for such robots. The governing equations of motion for the platform are derived using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a linear spring-damper based cable model is 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 IPAnema3 are presented. Given the real-time capability, the presented 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 Tempel2015b
%A Tempel, Philipp
%A Miermeister, Philipp
%A Lechler, Armin
%A Pott, Andreas
%D 2015
%J Applied Mechanics and Materials
%K Import180214 imported myown
%N 794
%P 419-426
%R 10.4028/www.scientific.net/AMM.794.419
%T Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis
%U http://dx.doi.org/10.4028/www.scientific.net/AMM.794.419
%V 794
%X This paper covers the kinematics and dynamics modelling of the mechatronic model for a 6 DOF cable-driven parallel robot and derives a real-time capable simulation model for such robots. The governing equations of motion for the platform are derived using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a linear spring-damper based cable model is 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 IPAnema3 are presented. Given the real-time capability, the presented 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{Tempel2015b,
abstract = {This paper covers the kinematics and dynamics modelling of the mechatronic model for a 6 DOF cable-driven parallel robot and derives a real-time capable simulation model for such robots. The governing equations of motion for the platform are derived using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a linear spring-damper based cable model is 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 IPAnema3 are presented. Given the real-time capability, the presented 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},
author = {Tempel, Philipp and Miermeister, Philipp and Lechler, Armin and Pott, Andreas},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/264639f87c6b2fb21dad96f160f2ceacb/andreaspott},
doi = {10.4028/www.scientific.net/AMM.794.419},
interhash = {890242751b3b4f431fbeb708e4d61efc},
intrahash = {64639f87c6b2fb21dad96f160f2ceacb},
journal = {Applied Mechanics and Materials},
keywords = {Import180214 imported myown},
number = 794,
pages = {419-426},
timestamp = {2018-02-14T07:58:37.000+0100},
title = {Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis},
url = {http://dx.doi.org/10.4028/www.scientific.net/AMM.794.419},
volume = 794,
year = 2015
}
