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.
Inverse Kinematics of a cable robot
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- Posts: 2
- Joined: 09 Jan 2019, 09:29
- Location: Trivandrum, India
Re: Inverse Kinematics of a cable robot
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
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