Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis

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.

• Periodical: Applied Mechanics and Materials (Volume 794)
• Pages: 419-426
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.794.419
• Online since: October 2015
• Authors: Philipp Tempel*, Philipp Miermeister, Armin Lechler, Andreas Pott
• Keywords: Cable-Driven Parallel Robot, Parallel Kinematics, Simulation

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