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International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)

Yi Xie
Yi Xie
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ASME Press
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This paper addresses the inverse dynamic analysis of cable-actuated robotic manipulators with non-negligible cable mass. The manipulator architecture is a simplified version adopted from the structure of the feed cabin to track radio source in 500-m aperture spherical radio telescope (FAST). In this paper first, the governing dynamic equation of motion of such structure is derived using the principle of virtual work and the Newton-Euler equation for a varying mass system. Next, the dynamic equations of the system are used in simulations. It is observed that the limb with variable mass does contribute to the dynamical forces required to generate...

1. Introduction
2. Mechanism Description
3. Mechanism Analysis
4. Inverse Dynamics Simulation
5. Summaries
6. Acknowledgements
7. References
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