Istrazivanja i projektovanja za privreduJournal of Applied Engineering Science


DOI: 10.5937/jaes11-4581
This is an open access article distributed under the CC BY-NC-ND 4.0 terms and conditions. 
Creative Commons License

Volume 11 article 264 pages: 191 - 200

Mirjana Filipovic 
Mihajlo Pupin Institute, Belgrade, Serbia

Ana Djuric 
Wayne State University, 42 W Warren Ave, Detroit, USA

Ljubinko Kevac 
University of Belgrade, School of Electrical Engineering, Belgrade, Serbia

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.

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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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