A cable-driven parallel robots application: modelling and simulation of a dynamic cable model in Dymola

7th AIC‐ICMR on Sciences and Engineering 2017

自然科学;工业技术

Othman, M.F.^1,2 ; Kurniawan, R.^1,4 ; Schramm, D.^1 ; Ariffin, A.K.^3

University of Duisburg-Essen, Lotharstrasse 1, Duisburg, MD

47047, Germany^1

Universiti Teknologi Mara (UiTM), Selangor, Shah Alam, 40450, Malaysia^2

Universiti Kebangsaan Malaysia (UKM), Selangor, Bangi

43600, Malaysia^3

Universitas Syiah Kuala (Unsyiah), Darussalam, Banda Aceh

23111, Indonesia^4

关键词: Model and simulation;    Modelling and simulations;    Multibody dynamics simulations;    Parallel robots;    Simulation environment;    Standard mechanical elements;    Storage and retrievals;    University of Duisburg-Essen;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/352/1/012005/pdf
DOI  :  10.1088/1757-899X/352/1/012005

来源: IOP

【 摘 要 】

Modeling a cable model in multibody dynamics simulation tool which dynamically varies in length, mass and stiffness is a challenging task. Simulation of cable-driven parallel robots (CDPR) for instance requires a cable model that can dynamically change in length for every desired pose of the platform. Thus, in this paper, a detailed procedure for modeling and simulation of a dynamic cable model in Dymola is proposed. The approach is also applicable for other types of Modelica simulation environments. The cable is modeled using standard mechanical elements like mass, spring, damper and joint. The parameters of the cable model are based on the factsheet of the manufacturer and experimental results. Its dynamic ability is tested by applying it on a complete planar CDPR model in which the parameters are based on a prototype named CABLAR, which is developed in Chair of Mechatronics, University of Duisburg-Essen. The prototype has been developed to demonstrate an application of CDPR as a goods storage and retrieval machine. The performance of the cable model during the simulation is analyzed and discussed.