This is an open access article distributed under the CC BY-NC-ND 4.0 terms and conditions.
Volume 11 article 264 pages: 191 - 200
The authentic form or
general form of Cable Suspended Parallel Robot type A, CPR-A mathematical model
is defi ned. The proper defi nition of the system kinematic model which
includes trajectory, velocity and acceleration is a prerequisite for the
formulation of a dynamic model. These three components represent the basic
functional criteria of the real system which is described by the corresponding
geometric relations and differential equations. Kinematic model is defi ned for
the CPR-A system via the Jacobian matrix. An adequate choice of generalized
coordinates (in this paper, the motor coordinates), provides a mathematical
model that illuminates the mapping of motor (resultant forces in the ropes) and
camera carrier forces (acting on a camera carrier) over the Jacobian matrix on
motion dynamics of each motor. Software packages AIRCAMA (aerial camera system
type A) are formed and used for individual and comparative analysis of the
CPR-A system from various aspects. The impact of changing any parameter of the
system (workspace dimensions, the mass of a camera carrier, change the size and
dynamics of power disturbances, the choice of control law, the reference
trajectory, and the presence of singularity avoidance system and a number of
other characteristics) can be analyzed through these software packages.
Different examples of the CPR-A system motion are analyzed and their results
are presented. Application possibilities of CPR-A system are certainly much
broader than it may be assumed at this moment, especially for sports, cultural,
military or police purposes.
This research has been
supported by the Ministry of Education, Science and Technological Development, Government
of the Republic of Serbia Grant TR-35003 through the following two projects:
“Ambientally intelligent service robots of anthropomorphic characteristics”, by
Mihajlo Pupin Institute, University of Belgrade, Serbia, Grant OI-174001 and
“The dynamics of hybrid systems of complex structure”, by Institute SANU
Belgrade and Faculty of Mechanical Engineering University of Nis, Serbia, and
partially supported by the project SNSF Care-robotics project no. IZ74Z0-137361/1
by Ecole Polytechnique Federale de Lausanne, Switzerland. We are grateful to
Prof. Dr. Katica R. (Stevanovic) Hedrih from Mathematical Institute, Belgrade
for helpful consultations during the implementation of this paper.
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