Dynamics Modelling of Large Suspended Parallel Cable-Driven Robots
(2011) Multibody Dynamics 2011 - ECCOMAS Thematic Conference — Location: Brussels (Belgium) (4.July.2011)
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- Abstract
- This paper proposes a multibody approach to model and simulate the dynamics of large cable robot, considering hefty cables. Each cable is discretized into finite rigid segments interconnected by ball joints including small stiffness and damping effects. This finite-segment model also involves the development of a simple winding model to transfer the mass of the first translating segment onto the rotating drum. The choice of the required number of segments to use is a key issue that is also discussed in this work. This discussion is based on the comparison of ten models involving one to ten segments per cable regarding their static equilibria, their behavior when the platform is elevated and their eigen frequencies. Finally, an application is proposed to simulate the control of the chosen model. An existing quasi-static analytical model is also used for comparison and to devise the control strategy.
- Affiliations
Université Montpellier II/CNRS Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier
Citations
Collard, J.-F., Lamaury, J., & Gouttefarde, M. (2011). Dynamics Modelling of Large Suspended Parallel Cable-Driven Robots. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2011. Multibody Dynamics 2011 - ECCOMAS Thematic Conference, Brussels (Belgium). https://hdl.handle.net/2078.5/229019