Analysis of effective vibration frequency of cable-driven parallel robot using mode tracking and quasi-static method

Do, Hyun-Dong; Park, Kyoung‐Su

doi:10.1007/s00542-016-3034-9

Cited by 6 publications

(2 citation statements)

References 13 publications

(16 reference statements)

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“…Shao et al [164] and Liu et al [174] analyzed the dynamic characteristics of the low-order natural frequency and mode shape of the feed support system of the FAST, based on the spring-damping concentrated mass model. The FEM is primarily used to analyze the vibration and mode of CDPRs under the conditions of distributed and continuous mass cable models [175,176]. The accuracy of FEM depends on the number of elements; therefore, a strong trade-off exists between accuracy and computational burden.…”

Section: Dynamicsmentioning

confidence: 99%

“…The dynamic model can be adopted to predict the cable force based on the motion status and adjust the cable length accordingly [183]. In addition, the cable force can be measured using sensors, and the cable lengths are adjusted according to the cable force deviation [175], avoiding cable sagging [184]. Baklouti et al [185] studied a feedforward control scheme based on an elasto-dynamic model that could reduce the vibration caused by the elasticity of the cables.…”

Section: Motion Controlmentioning

confidence: 99%

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State-of-the-art on theories and applications of cable-driven parallel robots

et al. 2022

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Cable-driven parallel robot (CDPR) is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism theory. It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace, cost and energy efficiency simultaneously. As a result, CDPRs have had irreplaceable roles in industrial and technological fields, such as astronomy, aerospace, logistics, simulators, and rehabilitation. CDPRs follow the cutting-edge trend of rigid-flexible fusion, reflect advanced lightweight design concepts, and have become a frontier topic in robotics research. This paper summarizes the kernel theories and developments of CDPRs, covering configuration design, cable-force distribution, workspace and stiffness, performance evaluation, optimization, and motion control. Kinematic modeling, workspace analysis, and cable-force solution are illustrated. Stiffness and dynamic modeling methods are discussed. To further promote the development, researchers should strengthen the investigation in configuration innovation, rapid calculation of workspace, performance evaluation, stiffness control, and rigid-flexible coupling dynamics. In addition, engineering problems such as cable materials, reliability design, and a unified control framework require attention.

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