Kinematics and Dynamics Modeling for Real-Time Simulation of the Cable-Driven Parallel Robot IPAnema 3

10.6567/IFToMM.14TH.WC.OS4.020

Ph. Tempel；P. Miermeister；A. Pott

cable-driven parallel robot ； system modeling ； dynamics simulation ； hardware-in-the-loop

Proceedings of the 14th IFToMM World Congress

14th-2（2015 / 10 / 27）

117 - 123

英文

In this paper, the kinematics and dynamics modeling of the mechatronic model for a 6 DOF cable-driven parallel robot are covered and a real-time capable simulation model for such robots is derived. The governing equations of motion of the mobile platform are acquired using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a spring-damper based cable model are 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 IPAnema 3 is presented. Given the real-time capability, the established 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.