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Dynamic and sensitivity analysis of KNTU CDRPM: A cable driven redundant parallel manipulator

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publication2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008
Pages528-533
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Publication typeA4 Article in a conference publication
Event2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008 - Beijing, China
Duration: 12 Dec 200815 Dec 2008

Conference

Conference2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008
CountryChina
CityBeijing
Period12/12/0815/12/08

Abstract

KNTU CDRPM is a cable driven redundant parallel manipulator, which is under investigation for possible implementation of large workspace applications. This newly developed manipulators have several advantages compared to the conventional parable mechanisms. In this paper, the governing dynamic equation of motion of such structure is derived using the Newton-Euler formulation. Next, the dynamic equations of the system are used in simulations. It is shown that on the contrary to serial manipulators, dynamic equations of motion of cable-driven parallel manipulators can be only represented implicitly, and only special integration routines can be used for their simulations. In order to verify the accuracy and integrity of the derived dynamic equations, open-and closed-loop simulations for the system is performed and analyzed. Also, the effects of mechanical assembly tolerances on the closed-loop control performance of a cable driven parallel robot are studied in detail, and the sensitivity analysis of the precision in the construction and assembly of the system on the closed-loop behavior of the KNTU CDRPM is performed.