Inverse Kinematics of a cable robot

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khagesh_bhardwaj
Posts: 2
Joined: 09 Jan 2019, 09:29
Location: Trivandrum, India

Inverse Kinematics of a cable robot

Post by khagesh_bhardwaj » 21 Jan 2019, 07:05

Hello,
I am trying to simulate a cable driven parallel robot, where I have modelled cable as universal-prismatic-spherical joint sequence with the actuated prismatic joint. There are four cables holding a payload in the model. And I want to simulate Inverse Kinematics of the payload plate. I have kept all the bodies in static state and joints in Inverse Kinematic mode. I don't know what's going wrong. When I start the simulation, nothing is moving from its pace at all. Please help me out, if anyone has any clue how to fix it.
Thanks in advance.

coppelia
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Posts: 7229
Joined: 14 Dec 2012, 00:25

Re: Inverse Kinematics of a cable robot

Post by coppelia » 25 Jan 2019, 11:06

Hello,

you basically need for every cable following:

base --> sphericalJoint --> prismaticJoint --> tipDummy

Above is a single kinematic chain that will form one IkElement that should have X,Y and Z constraints for the tipDummy. The targetDummy needs to be attached on the payload plate.

Maybe you can post your scene?

Cheers

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