Dynamic Modeling and Control of a novel 4-DOF Cable-driven Parallel Manipulator

This paper addresses the dynamic modeling of a novel 4-DOF cable-driven parallel manipulator and proposes the structure of a position controller for the tracking of a prescribed trajectory. The workspace model of mechanism’s dynamic is obtained in an efficient and compact form by means of natural orthogonal complement (NOC) method. A controller paradigm is designed which can assure tracking of the desired moving platform trajectory while all cables are in tensions. Simulation results presented show the effectiveness of the controller.

Keywords:

Cable-driven Parallel Manipulator , InverseDynamics , Natural Orthogonal Complement , Computed Torque Method