The rigid S-type cable-suspended parallel robot design, modelling and analysis

This paper presents design, modelling and analysis of the selected Rigid ropes S-type Cable-suspended Parallel Robot (RSCPR). The characteristic of this system is its geometric construction which defines the kinematic model through the Jacobian matrix. The relationship between external and internal...

Full description

Saved in:
Bibliographic Details
Published in:Robotica 2016-09, Vol.34 (9), p.1948-1960
Main Authors: Filipovic, M., Djuric, A., Kevac, Lj
Format: Article
Language:English
Subjects:
Design analysis
Design engineering
Dynamical systems
Dynamics
Jacobi matrix method
Jacobian matrix
Modelling
Robots
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents design, modelling and analysis of the selected Rigid ropes S-type Cable-suspended Parallel Robot (RSCPR). The characteristic of this system is its geometric construction which defines the kinematic model through the Jacobian matrix. The relationship between external and internal forces is defined by the Lagrange principle of virtual work. The Jacobian matrix is directly involved in the application of the Lagrange principle of virtual work and generation of the dynamic model of the RSCPR system. Selected examples of the CPR system types are analysed and the comparison of their results is presented. The software package named ORIGI has been developed for the RSCPR model verification.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574714002677