CoppeliaSim forums

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.

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