Modeling of Variable Length Cable Driven Parallel Robot

摘要：

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.

作者: Duan QJ Du JL Duan BY Li TJ Tang AF

作者单位: Xidian Univ., Xian, Shaanxi, 710071,China Xian University of Technology, Xi’an 710048, China.

会议类型: 国际会议

会议名称: 2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

会议地点: 青岛

会议语种:英文

页码: 545-548

在线出版日期: 2010-07-15（万方平台首次上网日期，不代表论文的发表时间）