Dynamics analysis of a redundant parallel manipulator driven by elastic cables

—In this paper the dynamic analysis of a cable drive parallel manipulator is described in detail. The manipulator architecture is a simplified planer version adopted from the structure of Large Adaptive Reflector (LAR), the Canadian design of next generation giant radio telescopes. This structure consists of a parallel redundant manipulators actuated by long cables. The dynamic equations of this structure are nonlinear and implicit. Long cables, large amounts of impelling forces and high accelerations raise more concern about the elasticity of cables during dynamic analysis, which has been neglected in the preceding works. In this paper, the kinematic analysis of such manipulator is illustrated first. Then the nonlinear dynamic of such mechanism is derived using Newton-Euler formulation. Next a simple model for cable dynamics containing elastic and damping behavior is proposed. The proposed model neither ignores longitude elasticity properties of cable nor makes dynamic formulations ...

• Type: Conference
• Year: 2008
• Where: ICARCV
• Authors: Yousef Babazadeh Bedoustani, Hamid D. Taghirad, Mohammad M. Aref
• Keywords: Cable, ICARCV 2008, Manipulator, Parallel Manipulator, Robotics