Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator

Autor:	Hamoon Hadian, Yasser Amooshahi, Abbas Fattah
Rok vydání:	2013
Předmět:	Computer Science::Robotics
DOI:	10.4018/978-1-4666-3634-7.ch017
Popis:	This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism’s dynamic is obtained in an efficient and compact form by means of natural orthogonal complement (NOC) method which leads to the elimination of the nonworking kinematic-constraint wrenches and also to the derivation of the minimum number of equations. To verify the dynamic model and analyze the dynamical properties of novel 4-DOF cable-driven parallel manipulator, a typical CTM control scheme in joint-space is designed for dynamic model in SimMechanics.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::a75388d2a9738643585b247a41d7406b https://doi.org/10.4018/978-1-4666-3634-7.ch017 Zobrazit plný text záznamu