Dynamics analysis of a redundant parallel manipulator driven by elastic cables
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review
Details
| Original language | English |
|---|---|
| Title of host publication | 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008 |
| Pages | 536-542 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - 2008 |
| Externally published | Yes |
| Publication type | A4 Article in a conference publication |
| Event | 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008 - Hanoi, Viet Nam Duration: 17 Dec 2008 → 20 Dec 2008 |
Conference
| Conference | 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008 |
|---|---|
| Country | Viet Nam |
| City | Hanoi |
| Period | 17/12/08 → 20/12/08 |
Abstract
In this paper the dynamic analysis of a cable-driven parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of Large Adaptive Reflector (LAR), the Canadian design of next generation giant radio telescopes. This structure consists of a parallel redundant manipulator actuated by long cables. The dynamic equations of this structure are nonlinear and implicit. Long cables, large amounts of impelling forces and high accelerations raise more concern about the elasticity of cables during dynamic analysis, which has been neglected in the preceding works. In this paper, the kinematic analysis of such manipulator is illustrated first. Then the nonlinear dynamic of such mechanism is derived using Newton-Euler formulation. Next a simple model for cable dynamics containing elastic and damping behavior is proposed. The proposed model neither ignores longitude elasticity properties of cable nor makes dynamic formulations heavily complicated like previous researches. Finally, manipulator dynamic with cable dynamic is derived, and the cable elasticity effects are compared in a simulation study. The results show significant role of elasticity in a cable-driven parallel manipulator such as the one used in LAR mechanism.
ASJC Scopus subject areas
Keywords
- Cable-driven parallel manipulator, Dynamics, Elastic cable, Kinematics, Redundant manipulator