| A cable-driven camera robot can fly in3D space freely, that is a revolution ofcamera boarding system. Because of the motion of the camera varies with theinstantaneous movement of the object, it is necessary to make simulation analysis of thekinetic model of the robot system to guarantee the area size that the camera covers andthe stability of the images captured by the camera. This paper establishes the dynamicmodel of a cable-driven camera robot, analyzes the algorithm of cable force in theredundant system, and studies the trajectory planning method to make easy motion andthe optimized design of the system workspace.Firstly, the dynamical model of the cable-driven camera is established with theNewton-Euler method, and a solution to the cable tension of redundant system ispresented in this paper.Secondly, it is studied that how the different trajectory planning methods have aneffect on the system stability by the simulations, and a trajectory planning method isgiven to make the cable-driven camera moving smoothly.Finally, a further analysis is made on some properties of cable tensions，and thispaper proposes the Force-Feasible Workspace to describe the cable-driven camera’sworkspace, presents a method to compute it, and analyzes its properties. Theseanalytical results are validated by simulation. It also compares the static and dynamicworkspace in the Matlab environment, and presents the method to improve theworkspace. |
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