Abstract
This paper deals with the analysis of the position of the load’s centre of mass relative to the load’s hanging point during the motion in the workspace of Cable-suspended Parallel Robot – CPR system. It will be proven that the distance between the load’s centre of mass and the hanging point is variable during the motion. Also, their relative positions are variable as well. This phenomenon can be present at any type of CPR system, whose workspace can have a shape of: parallelepiped, triangle or line (planar example). The CPR system carries the load via pulleys and ropes. This analysis is valid for any construction of the CPR system where the load is carried with ropes and each rope is wound (unwound) on the corresponding system motor – winch. The ropes are hanged on highest points of the CPR system’s workspace.
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Acknowledgments
This research has been supported by the Ministry of Education, Science and Technological Development, Government of the Republic of Serbia through the following three projects: Grant TR-35003 “Ambient 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 Fédérale de Lausanne, Switzerland. We are grateful to Prof. Dr. Katica R. (Stevanovic) Hedrih from the Mathematical Institute in Belgrade for helpful consultations during the implementation of this research work.
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Filipovic, M., Kevac, L., Djuric, A. (2017). The Variable Position of the Load’s Centre of Mass Relative to the Load’s Hanging Point of the CPR System. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_20
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DOI: https://doi.org/10.1007/978-3-319-49058-8_20
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