The methodology for developing the kinematic model of selected CPR-a system as a necessity for the development of a dynamic model

• Main Authors: Filipović Mirjana, Đurić Ana, Kevac Ljubinko
• Format: Article
• Language: English
• Published: Institut za istrazivanja i projektovanja u privredi 2013-01-01
• Series: Istrazivanja i projektovanja za privredu
• Subjects: cable-suspended parallel robot; observation; workspace; modeling; kinematic; dynamic
• Online Access: https://scindeks-clanci.ceon.rs/data/pdf/1451-4117/2013/1451-41171304191F.pdf

The authentic form or general form of Cable Suspended Parallel Robot type A, CPR-A mathematical model is defined. The proper definition 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 defied 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.