The general situation of connection point that has three translational degrees of freedom with free movement between each robot and the cable was considered for the parallel system of multi robots cooperatively towing a payload by cables. The generalized kinematic equations of the system were established, and the dynamic equations of the system were established by respectively using the Newton Euler equation and Lagrange equation. The system was divided into three types of issues according to relation among robots, cables and payload. The situations of solution to all kinds of issues were respectively analyzed from the view whether equations have solutions. Then the processing method was discussed in each case from the view of practical application. When there were no solution or infinite solutions, some solving methods were proposed. When there were solutions, the method of removing the solutions that don’t meet the design requirements was proposed. If there were multiple groups of solutions, a method of searching for optimal solution was proposed. The kinematic and dynamic model were verified by simulation examples, and the processing method of the solutions was illustrated.
LI Wei, ZHAO Zhi gang, SHI Guang tian, MENG Jia dong. Solutions of kinematics and dynamics for parallel cable driven system with multi robots. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2015, 49(10): 1916-1923.
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