Abstract
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.
| Language | English |
|---|---|
| Article number | 012005 |
| Journal | IOP Conference Series: Materials Science and Engineering |
| Volume | 352 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - May 11 2018 |
| Event | 7th AIC-ICMR on Sciences and Engineering 2017 - Banda Aceh, Aceh, Indonesia Duration: Oct 18 2017 → Oct 20 2017 |
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All Science Journal Classification (ASJC) codes
- Materials Science(all)
- Engineering(all)
Cite this
A cable-driven parallel robots application : Modelling and simulation of a dynamic cable model in Dymola. / Othman, Muhamad Fitri; Kurniawan, R.; Schramm, D.; Ariffin, A. K.
In: IOP Conference Series: Materials Science and Engineering, Vol. 352, No. 1, 012005, 11.05.2018.Research output: Contribution to journal › Conference article
}
TY - JOUR
T1 - A cable-driven parallel robots application
T2 - IOP Conference Series: Materials Science and Engineering
AU - Othman, Muhamad Fitri
AU - Kurniawan, R.
AU - Schramm, D.
AU - Ariffin, A. K.
PY - 2018/5/11
Y1 - 2018/5/11
N2 - 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.
AB - 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.
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U2 - 10.1088/1757-899X/352/1/012005
DO - 10.1088/1757-899X/352/1/012005
M3 - Conference article
VL - 352
JO - IOP Conference Series: Materials Science and Engineering
JF - IOP Conference Series: Materials Science and Engineering
SN - 1757-8981
IS - 1
M1 - 012005
ER -