Dynamical Analysis of a Cable Manipulator Using Multibody Approaches

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F17%3A43931608" target="_blank" >RIV/49777513:23520/17:43931608 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21220/17:00320842

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Dynamical Analysis of a Cable Manipulator Using Multibody Approaches

Popis výsledku v původním jazyce

This paper deals with the creation of a computational model of a particular cable manipulator composed of a rigid manipulator with three degrees of freedom and a platform driven by four fibers. Each fiber is led over a pulley and is driven by a linear motor, which can be controlled. The multibody dynamics approach is a suitable way in order to create the manipulator model. The most common cable modelling techniques are summarized in this paper and then the computational model of the cable manipulator QuadroSphere is created using MSC.Adams software. The computational model verification is done using the modal analysis of linearized model and the ex-perimental modal analysis on the real set up. Further results of various numerical simulations are presented and their utilization is discussed.

Název v anglickém jazyce

Dynamical Analysis of a Cable Manipulator Using Multibody Approaches

Popis výsledku anglicky

This paper deals with the creation of a computational model of a particular cable manipulator composed of a rigid manipulator with three degrees of freedom and a platform driven by four fibers. Each fiber is led over a pulley and is driven by a linear motor, which can be controlled. The multibody dynamics approach is a suitable way in order to create the manipulator model. The most common cable modelling techniques are summarized in this paper and then the computational model of the cable manipulator QuadroSphere is created using MSC.Adams software. The computational model verification is done using the modal analysis of linearized model and the ex-perimental modal analysis on the real set up. Further results of various numerical simulations are presented and their utilization is discussed.

Druh

J_SC - Článek v periodiku v databázi SCOPUS

CEP obor

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OECD FORD obor

20302 - Applied mechanics

Projekt

<a href="/cs/project/GA15-20134S" target="_blank" >GA15-20134S: Vícestupňové lehké mechanismy s aktivními strukturami</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Manufacturing Technology

ISSN

1213-2489

e-ISSN

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Svazek periodika

17

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

CZ - Česká republika

Počet stran výsledku

6

Strana od-do

152-157

Kód UT WoS článku

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EID výsledku v databázi Scopus

2-s2.0-85016792615