Dynamics modeling and ADAMS simulation of cabledriven manipulator
                                           TIAN Bo1, WANG Yaoyao 1, ZHU Kangwu2, CHEN Bai1, WU Hongtao1
(1.College of Mechanical & Electrical Engineering, Nanjing University of Aeronautics &Astronautics, Nanjing210016, China; 2.Shanghai Institute of Spaceflight Control Technology, Shanghai 201109, China)

Abstract: Aiming at the problem of difficult to build the dynamics model of cabledriven manipulator because of importing of cable. Single way force of cable was taken into account. Cabledriven manipulator was researched on influence of cable on dynamics model, force between cable and linkages, change of force and driving torque caused by preload. Complete dynamics model of cabledriven manipulator was acquired on the basic of generalization of traditional rigid manipulator dynamics model, influences on manipulator by cable was analyzed, iteration NewtonEuler method was used. The influence that caused by exerting preload on linkages was analyzed on the base of dynamics model. Dynamics simulation of 3 DOF cabledriven manipulator was achieved through ADAMS. The simulation results indicate that simulation torque are accordance with calculated basically, which show the correctness of dynamics model. Forces between cable and linkages will change, however, driving torque keep unchanged when preload is exerted.

Key words: cabledriven; manipulator; dynamics model; NewtonEular method; ADAMS simulation