In this paper, the mechatronic model of the cable-driven parallel robot IPAnema is presented. The dynamic equations are established including the dynamic behavior of the mobile platform, the pulley kinematics of the winches, and a cable model based on linear springs. The model of the actuation systems consists of the electro-dynamic behavior of the power train as well as the dynamics of the servo controller. The presented model is feasible for real-time simulation, controller design, as well as case studies for high-dynamic or large-scale robots. Simulation results and experimental measurements with the cable-driven parallel robot IPAnema are presented and compared. © Springer Science+Business Media B.V. 2010.
CITATION STYLE
Miermeister, P., & Pott, A. (2010). Modelling and real-time dynamic simulation of the cable-driven parallel robot IPAnema. In Mechanisms and Machine Science (Vol. 5, pp. 353–360). Kluwer Academic Publishers. https://doi.org/10.1007/978-90-481-9689-0_41
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