A cable-driven parallel manipulator is an economic way to achieve manipulation over large workspace. However, unavoidable vibration in long cables can dramatically degenerate the positioning performance of manipulators. In this paper, dynamic models of large cable-driven parallel manipulators (CDPMs) are addressed where each cable is considered with distributed mass and can change in length during operation. The dynamic equation of a cable deployed or retrieved is derived using Hamilton's principle. The dynamic model of the system is characterized by partial differential equations with algebraic constraints. By properly selecting the independent unknowns, we solve the model using assumed-mode method.
Cable-driven parallel manipulator (CDPM) is a good solution to achieving large workspace. However, unavoidable vibrations of long cables can dramatically degrade the positioning performance in large workspace applications. Most work so far on cable-driven parallel manipulators (CDPMs) simply neglected the dynamics of the cables themselves. In this paper dynamic modeling of large CDPMs is addressed using a variable domain finite element method (FEM). A cable element with variable length is derived using the absolute nodal coordinate formulation to facilitate motion analysis of CDPMs. The effects of cable length variation and the resulting mass variation are also considered. Based on this element dynamics model of CDPMs can be readily obtained using the standard assembling operation in the FEM. Numerical results showed that the effect of the derivatives of cable length variation and that of the mass variation are trivial.
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