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...

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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
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cited_by cdi_FETCH-LOGICAL-c350t-76d2f4b385d94e864e16cb1a28ad5ba867ef8851abca42a490dd05973e4bcd023
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container_end_page 1960
container_issue 9
container_start_page 1948
container_title Robotica
container_volume 34
creator Filipovic, M.
Djuric, A.
Kevac, Lj
description 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.
doi_str_mv 10.1017/S0263574714002677
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source Cambridge University Press
subjects Design analysis
Design engineering
Dynamical systems
Dynamics
Jacobi matrix method
Jacobian matrix
Modelling
Robots
title The rigid S-type cable-suspended parallel robot design, modelling and analysis
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