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ASME Press Select Proceedings
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)
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ISBN:
9780791859933
No. of Pages:
840
Publisher:
ASME Press
Publication date:
2011
eBook Chapter
148 Dynamic Analysis of Cable-Actuated Parallel Robot with Variable Mass System
By
Q. J. Duan
Q. J. Duan
Xidian Univ.
, Xi'an, Shaanxi
, P.R.China
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Page Count:
4
-
Published:2011
Citation
Duan, QJ. "Dynamic Analysis of Cable-Actuated Parallel Robot with Variable Mass System." International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011). Ed. Xie, Y. ASME Press, 2011.
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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 a given trajectory.
Abstract
Keywords
1. Introduction
2. Mechanism Description
3. Mechanism Analysis
4. Inverse Dynamics Simulation
5. Summaries
6. Acknowledgements
7. References
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