Manufacturing Technology 2017, 17(2):151-157 | DOI: 10.21062/ujep/x.2017/a/1213-2489/MT/17/2/151

Dynamical Analysis of a Cable Manipulator Using Multibody Approaches

Radek Bulín1, Michal Hajľman1, Pavel Polach2, Zbyněk ©ika3, Jan Zavřel3
1 Department of Mechanics, Faculty of Applied Sciences, University of West Bohemia, Univerzitní 22, 306 14 Plzeň, Czech Republic
2 NTIS - New Technologies for the Information Society, Faculty of Applied Sciences, University of West Bohemia Univerzitní 22, 306 14 Plzeň, Czech Republic
3 Department of Mechanics, Biomechanics and Mechatronics, Faculty of Mechanical Engineering, Czech Technical University in Prague, Technická 4, 166 07 Praha

This paper deals with the creation of a computational model of a particular cable manipulator composed of a rigid manipulator with three degrees of freedom and a platform driven by four fibers. Each fiber is led over a pulley and is driven by a linear motor, which can be controlled. The multibody dynamics approach is a suitable way in order to create the manipulator model. The most common cable modelling techniques are summarized in this paper and then the computational model of the cable manipulator QuadroSphere is created using MSC.Adams software. The computational model verification is done using the modal analysis of linearized model and the experimental modal analysis on the real set up. Further results of various numerical simulations are presented and their utilization is discussed.

Keywords: Cable Manipulator, Multibody Dynamics, Cable Modelling, QuadroSphere

Published: April 1, 2017  Show citation

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Bulín R, Hajľman M, Polach P, ©ika Z, Zavřel J. Dynamical Analysis of a Cable Manipulator Using Multibody Approaches. Manufacturing Technology. 2017;17(2):151-157. doi: 10.21062/ujep/x.2017/a/1213-2489/MT/17/2/151.
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