Forward dynamic analyses of cable-driven parallel robots with constant input with applications to their kinetostatic problems
| Autor: | Teja Krishna Mamidi, Sandipan Bandyopadhyay |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Scale (ratio) Computer science Aperture Mechanical Engineering Computation Work (physics) Parallel manipulator Bioengineering 02 engineering and technology Computer Science Applications Dynamic simulation 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Mechanics of Materials Control theory Winch Constant (mathematics) |
| Zdroj: | Mechanism and Machine Theory. 163:104381 |
| ISSN: | 0094-114X |
| DOI: | 10.1016/j.mechmachtheory.2021.104381 |
| Popis: | Forward dynamic analyses of cable-driven parallel robots (CDPRs) are performed accounting for the spatial motions of the cables while considering their mass, sag, elastic and damping properties. The winches feeding the cables are considered stationary. An efficient recursive forward dynamic algorithm is developed to perform the extremely demanding computations. As a part of this work, a solution to the kinetostatic problem of CDPRs is proposed, wherein starting with a non-equilibrium pose, the CDPR is allowed to evolve dynamically until attaining an equilibrium. This idea is demonstrated on a spatial 6-3 CDPR, the feed-support system of the Five-hundred-meter aperture spherical radio telescope (FAST), as well as the 8-8 CDPR, CoGiRo. Dynamic simulation of this nature using a full-scale model of the FAST manipulator is reported for the first time. The results are validated numerically, as well as against existing models, wherever feasible. Challenges involved in the modelling and computations at such a scale and the corresponding remedies are elaborated. |
| Databáze: | OpenAIRE |
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