Abstract
In this paper, the mechatronic model of the cable-driven parallel robot IPAnema ispresented. The dynamic equations are established including the dynamic behavior of the mobileplatform, the pulley kinematics of the winches, and a cable model based on linear springs. Themodel of the actuation systems consists of the electro-dynamic behavior of the power train as wellas 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 resultsand experimental measurements with the cable-driven parallel robot IPAnema are presented andcompared
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Miermeister, P., Pott, A. (2010). Modelling and Real-Time Dynamic Simulation of the Cable-Driven Parallel Robot IPAnema. In: Pisla, D., Ceccarelli, M., Husty, M., Corves, B. (eds) New Trends in Mechanism Science. Mechanisms and Machine Science, vol 5. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9689-0_41
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DOI: https://doi.org/10.1007/978-90-481-9689-0_41
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