Abstract—Recently, Cable Suspended Parallel Robots (CSPRs) have provided considerable advances while driving in specific fields where dynamic features are required. Representative examples include moving a large cargo in fast transitions while maintaining high precision. As a result, in order to effectively handle CSPRs on complex movements with varying payloads, dynamic restrictions must be required. By real-time measuring the force applied to each cable, we can approach the payload at any point, as the manipulators act instantly when carrying distinct objects. The inverse dynamic equation is come up using the Lagrangian formulation, and the rope mass is negligible. In order to real time measurement cable tensions, a proportional-derivative(PD) model drives each motor. Finally, simulation and experiment are used to test the stability of dynamic modeling for control and to confirm the program.

Index Terms—CSPR, cable robot, PD control, dynamics, kinematics

Cite: Le Duc Duy and Nguyen Truong Thinh, "Dynamic Modeling of a Cable Suspended Parallel Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 8, pp. 639-645, August 2022. DOI: 10.18178/ijmerr.11.8.639-645

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