Modelling and transient planar dynamics of suspended cables with moving mass
نویسندگان
چکیده
منابع مشابه
Cable-suspended planar parallel robots with redundant cables: controllers with positive cable tensions
Cable-suspended robots are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the end-effector but not push it. From a scientific point of view, this feature makes feedback control of cable-suspended robots lot more challenging than their counterpart parallel-actuated robots. In the case with redundant cables, feedback control laws can...
متن کاملDynamic Analysis of Moving Cables with Variable Tension and Variable Speed
Dynamic Analysis of an axially moving cable with time dependent tension and velocity isstudied in this paper. Tension force and the moving speed are assumed to be harmonic.It is found that there exists a specific value of speed in which natural frequency of the system approacheszero. This specific speed for such a critical condition is called critical speed and it will be proved thatincreasing ...
متن کاملModeling a Planar Point Mass Sagged Cable-Suspended Manipulator
This paper deals with the kinetostatic model for a planar point mass cable-driven parallel manipulator when the cable elasticity and configuration have been fully taken into account. An exact model solution for the statics is obtained by consider elastic hefty cables. The proposed formulation allows considering specific behavior of cables for large dimensions cable-suspended robots in which the...
متن کاملDynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots
We address the problem of cooperative transportation of a cable-suspended payload by multiple quadrotors. In previous work, quasi-static models have been used to study this problem. However, these approaches are severely limited because they ignore the payload dynamics, and do not explicitly model the underactuation in the control problem. Thus, there are no guarantees on the payload trajectory...
متن کاملMechanical System Modelling of Robot Dynamics Using a Mass/Pulley Model
The well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulat...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Solids and Structures
سال: 2010
ISSN: 0020-7683
DOI: 10.1016/j.ijsolstr.2010.06.002