Modeling, Control and Simulation of a New Large Scale Cable-Driven Robot

Author:

Alikhani Alireza1,Behzadipour Saeed2,Ghahremani Farbod3,Alasty Aria4,Sadough Vanini S. Ali1

Affiliation:

1. AmirKabir University of Technology, Tehran, Iran

2. University of Alberta, Edmonton, AB, Canada

3. TAM of IKCO, Tehran, Iran

4. Sharif University of Technology, Tehran, Iran

Abstract

In this paper, modeling and control of a new cable-driven robot is presented. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motion. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this article kinematics and dynamics models for the proposed cable-driven architecture are derived. Additionally, Feedback linearization under input constraints is used for the control of the robot. The control algorithm ensures the cable tensions are positive while minimizing the sum of all the torques exerted by the actuators. Finally, the implementation of the proposed method is demonstrated through simulation.

Publisher

ASMEDC

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