Modelling and Real-Time Dynamic Simulation of the Cable-Driven Parallel Robot IPAnema

Miermeister, Philipp; Pott, Andreas

doi:10.1007/978-90-481-9689-0_41

Cited by 26 publications

(19 citation statements)

References 3 publications

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“…have been used widely in special industrial applications requiring high dynamics, such as virtual reality simulators (Usher et al 2005), ultra-high-speed wire-driven manipulators (Chan 2005;Behzadipour 2005;Dekker et al 2006), and high-speed pick and place robots (Miermeister et al 2010). However, the high acceleration generated affects the wrench-feasible workspace of a CDPR system significantly.…”

Section: Introductionmentioning

confidence: 99%

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Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

2016

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Section: Introductionmentioning

confidence: 99%

“…Cable robots can also generate high velocities and accelerations due to the very small inertia of the endeffector compared with industrial robots with rigid links (Dekker et al 2006;Miermeister et al 2010). Thus, CDPRs Abstract Cable robots can generate high velocities and accelerations due to the very small inertia of the end-effector.…”

Section: Introductionmentioning

confidence: 99%

Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

2016

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“…N recent years, cable-driven parallel robots (CDPRs) have become popular due to their advantages over conventional link parallel robots, such as high sensitivity to movement, ease of maintenance and large workspace [1,2]. To achieve the high sensitivity and large workspace, they have used 3 to 8 cable members.…”

Section: Introductionmentioning

confidence: 99%

Parametric Study for Nonlinear Dynamic Behaviors using Integrated Cable Elongation Model of Cable Driven Parallel Robot

Choi

Park

2018

MATEC Web Conf.

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Polymer is one of the most widely used cable materials in the CDPR system due to its light weight and low inertia. However, it is not easily to achieve high accuracy because of the complicated response of polymer cable while CDPR is operated. In our previous study, the integrated dynamics model of cable was derived with the visco-elastic model. With the integrated dynamics model of cable, the parametric studies were carried out for the cable length, the applied force and the tensile rate for various nonlinear cable elongation behaviors. At first, dynamic creep behavior was defined and investigated in CDPR system. Dynamic creep was saturated with one value as the cyclic load/unload is continuously carried out. The saturation number was inversely proportional to the cable length because of the residual stress. And as the tensile rate was increased, the dynamic creep was decreased linearly. In long-term recovery, the long-term recovery is finished more quickly for the case of a shorter cable.

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“…[7], [8], [9], [10] or sensor-based control [11]. There has been relatively few works on their simulation [12], [13] and usually a key element for the simulation of the robot controller, namely its discrete-time nature, is not taken into account with the exception of [14] for a translational 3 d.o.f. CDPR with only 3 non deformable cables.…”

Section: Introductionmentioning

confidence: 99%

Simulation of Discrete-Time Controlled Cable-Driven Parallel Robots on a Trajectory

Merlet

2017

IEEE Trans. Robot.

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This paper addresses the simulation of the state of a discretetime controlled cable-driven parallel robots (CDPR) with non deformable or elastic cables over a given trajectory. Being given a CDPR, an arbitrary model for the coiling system and for the control strategy, we exhibit a simulation algorithm that allows one to determine, in a guaranteed way, the platform pose and the cable tensions at any time. We show that such a simulation may require a computing accuracy that impose to use extended arithmetic and that discrete-time control may lead to drastic differences in the cable tensions as compared to usual continuous time simulation. Hence the proposed simulation tool allows for a better estimation of the positioning accuracy together with safer estimation of the maximum of the cable tensions.

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Modelling and Real-Time Dynamic Simulation of the Cable-Driven Parallel Robot IPAnema

Cited by 26 publications

References 3 publications

Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

Workspace analysis of a 6-DOF cable-driven parallel robot considering pulley bearing friction under ultra-high acceleration

Parametric Study for Nonlinear Dynamic Behaviors using Integrated Cable Elongation Model of Cable Driven Parallel Robot

Simulation of Discrete-Time Controlled Cable-Driven Parallel Robots on a Trajectory

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