Virtual Prototype of Spatial Redundantly Constraint Cable-Driven Parallel Robot using Object-Oriented Modeling Principal

This paper deals with a virtual prototype of spatial redundantly constraint cable-driven parallel robot (CDPR) using object-oriented modeling approach. The main physical components of CDPR such as platform, winches, pulleys and cables are mathematically and object-orientedly modeled in Dymola. The parameters used are based on the SEGESTA prototype which is a spatial type CDPR developed for industrial applications by Chair of Mechatronic, Universitt Duisburg-Essen. The trajectory motion of the virtual prototype is generated by a trajectory planner and controlled using an augmented PD controller in MATLAB Simulink. For the sake of robustness and reliability, the co-simulation procedure is executed with a complex trajectory. Then, the simulation results are analyzed and discussed.