Modelling and simulation of a cable-driven parallel planar robot
DOI:
https://doi.org/10.30973/progmat/2020.12.1/4Keywords:
Cable-driven robots, modelling, kinematics, Matlab, Singularities analysisAbstract
Cable-driven planar robots are robotic systems which have closed-loop kinematic chains. In this article is presented the modelling and simulation of a planar robot based system which has four cables arranged in a parallel way. The methodology developed at this paper begin by describing as a whole, later it is presented the sysmtem’s degrees of freedom and the joints schematic diagram are defined. Also it is realized a velocities study and a singularities analysis. Finally the system’s kinematic equations of the proposed system are developed, direct kinematics and inverse kinematics and, finally, it is showed the results validated by a computer program by Matlab Simulink.
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