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The rigid S-type cable-suspended parallel robot design, modelling and analysis

Published online by Cambridge University Press:  09 December 2014

M. Filipovic ,
A. Djuric  and
Lj. Kevac
M. Filipovic
Affiliation:
Mihajlo Pupin Institute, The University of Belgrade, Volgina 15, 11000 Belgrade, Serbia
A. Djuric*
Affiliation:
Wayne State University, 4855 Fourth St. Detroit, MI 48202, USA
Lj. Kevac
Affiliation:
School of Electrical Engineering, The University of Belgrade, Bulevar Kralja Aleksandra 73, 11000 Belgrade, Serbia Innovation center of School of Electrical Engineering, The University of Belgrade, Bulevar Kralja Aleksandra 73, 11000 Belgrade, Serbia
*
*Corresponding author. E-mail: ana.djuric2@wayne.edu
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Summary

This paper presents design, modelling and analysis of the selected Rigid ropes S-type Cable-suspended Parallel Robot (RSCPR). The characteristic of this system is its geometric construction which defines the kinematic model through the Jacobian matrix. The relationship between external and internal forces is defined by the Lagrange principle of virtual work. The Jacobian matrix is directly involved in the application of the Lagrange principle of virtual work and generation of the dynamic model of the RSCPR system. Selected examples of the CPR system types are analysed and the comparison of their results is presented. The software package named ORIGI has been developed for the RSCPR model verification.

Keywords

Cable-suspended parallel robotRigid ropesKinematicsJacobian matrixDynamicsPD controller
Type
Articles
Information
Robotica , Volume 34 , Issue 9 , September 2016 , pp. 1948 - 1960
Copyright
Copyright © Cambridge University Press 2014 

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