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Kinematics and dynamics modeling for real-time simulation of the cable-driven parallel robot IPAnema 3

 
: Tempel, Philipp Thomas; Miermeister, Philipp; Pott, Andreas

:

Chang, Shuo Hung (General Chair) ; International Federation for the Promotion of Mechanism and Machine Science:
14th IFToMM World Congress 2015. Proceedings : October 25-30, 2015, Taipei, Taiwan
Taipei, 2015
pp.117-123
International Federation for the Promotion of Mechanism and Machine Science (IFToMM World Congress) <14, 2015, Taipei>
English
Conference Paper
Fraunhofer IPA ()
ISW; cable-driven parallel robot; Systemmodellierung; simulation; IPAnema; Dynamik; Simulation; Echtzeit-Simulation

Abstract
In this paper, the kinematics and dynamics modeling of the mechatronic model for a 6 DOF cabledriven 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.

: http://publica.fraunhofer.de/documents/N-370383.html