Dynamics Analysis of a Sinking Winch Mechanism
This paper investigates the dynamics of a sinking winch mechanism in the framework of non-smooth dynamics. The previous works ignored the unilateral property of the cable (it can only pull the platform but cant push it), which is specially taken into consideration in this paper. We propose the set-valued tension law to model the unilateral constraints of the cables. The equations of motion are derived by use of the Lagrange multiplier method. The dynamics model of the mecha-nism is obtained by combining the equations of motion and the set-valued tension law. Its solution is solved by the Moreau midpoint method. We present a numerical simulation study to demonstrate that the non-smooth dynamics framework is effective and suitable for the dynamic analysis of the sinking winch mechanism.
Non-smooth dynamics Set-valued tension law Cable-driven parallel mechanism
Xing Guo Shao Zhen Cai Zhu Guo Hua Cao Yi Lei Li
China University of Mining and Technology, Xuzhou, Jiangsu Province 221008, P.R. China
国际会议
上海
英文
454-457
2011-10-21（万方平台首次上网日期，不代表论文的发表时间）