Dynamics Modelling of Large Suspended Parallel Cable-driven Robots

Marc Gouttefarde 1 Jean-François Collard 1 Johann Lamaury 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper proposes a multibody approach to model and simulate the dynamics of lrge cable robot, considering hefty cables. Each cable is discretized into finite rigid segments nterconnected by ball joints including small stiffness and damping effects. This finite-segment model also involves the development of a simple winding model to transfer the mass of the first translating segment onto the rotating drum. The choice of the required number of segments to use is a key issue that is also discussed in this work. This discussion is based on the comparison of ten models involving one to ten segments per cable regarding their static equilibria, their behavior when the platform is elevated and their eigen frequencies. Finally, an application is proposed to simulate the control of the chosen model. An existing quasi-static analytical model is also used for comparison and to devise the control strategy.
Type de document :
Communication dans un congrès
ECCOMAS Thematic Conference on Multibody Dynamics, Belgium. pp.01-13, 2011
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00737241
Contributeur : Marc Gouttefarde <>
Soumis le : lundi 1 octobre 2012 - 14:10:11
Dernière modification le : jeudi 11 janvier 2018 - 02:03:40

Identifiants

  • HAL Id : lirmm-00737241, version 1

Collections

Citation

Marc Gouttefarde, Jean-François Collard, Johann Lamaury. Dynamics Modelling of Large Suspended Parallel Cable-driven Robots. ECCOMAS Thematic Conference on Multibody Dynamics, Belgium. pp.01-13, 2011. 〈lirmm-00737241〉

Partager

Métriques

Consultations de la notice

150