Title :
Modeling of variable length Cable Driven Parallel Robot
Author :
Duan, Q.J. ; Du, J.L. ; Duan, B.Y. ; Li, Tiffany Jing ; Tang, A.F.
Author_Institution :
Xidian Univ., Xi´an, China
Abstract :
A steady-state dynamic model for a cable in air is put forward by using some tensor relations. For the dynamic motion of a long-span Cable Driven Parallel Robot (CDPR) system, a driven cable deployment and retrieval mathematical model of CDPR is developed by employing lumped mass method. The boundary condition of cable and initial values of equations is founded, The partial differential governing equation of each cable is thus transformed into a set of ordinary differential equations, which can be solved by adaptive Runge-Kutta algorithm. Simulation examples verify the effectiveness of the mathematical model of variable length CDPR.
Keywords :
Runge-Kutta methods; cableway systems; computational geometry; lumped parameter networks; mechatronics; partial differential equations; robot dynamics; tensors; adaptive Runge Kutta algorithm; lumped mass method; mathematical model; parallel robot; partial differential equation; steady state dynamic model; tensor relation; variable length cable; Adaptation model; Poles and towers; Silicon;
Conference_Titel :
Mechatronics and Embedded Systems and Applications (MESA), 2010 IEEE/ASME International Conference on
Conference_Location :
Qingdao, ShanDong
Print_ISBN :
978-1-4244-7101-0
DOI :
10.1109/MESA.2010.5552014
