Dynamic Modeling and Residual Vibration Suppression of the Redundantly-Actuated Cable Driving Parallel Manipulator

Abstract

An improved input shaping (IS) scheme was proposed for the redundantly actuated cable driving parallel robots (CDPRs) to suppress the residual vibration (RV). To make the design of the RV suppression convenient, the flexible displacements of the moving platform were taken as the generalized coordinates considering the axial deformation of cables, and rigid-flexible dynamic model of generalized redundantly actuated CDPRs was established with the Newton-Euler equation and the Newton's law. Then to cope with time-variant vibration frequencies of the CDPRs due to the variable lengths of cables, the technique that combined the one-to three-order zero vibration (ZV) IS with the particle swarm optimization (PSO) and the controller was proposed to suppress the RV. At last, to validate the effectiveness the proposed method, the simulations were carried out in a redundantly actuated CDPR that has six degree-of-freedom CDPR and seven driving cables with the proposed method, the results show that the RVs can be reduced significantly. INDEX TERMS Cable-driving parallel manipulator robot, dynamic modeling, multiple mode input shaping, particle swarm optimization.

Vibration Suppression and Over-Quadrant Error Mitigation Methods for a Ball-Screw Driven Servo System With Dual-Position Feedback

“…In fact, (27) and (19) have similar structures, and both show that the quadrant error is composed of two components: radial error and circular transient error. Since in actual processing, when the over-quadrant error occurs, the phenomenon of lost motion on load side will occur, while the motor side will not be affected.…”

“…Reference [28] deduces the formula of the contour error in linear and circular feed with the consideration of the influence from backlash, respectively. The linear feed contour error and circular feed contour error are expressed as (18) and (19), respectively. This article has been accepted for publication in a future issue of this journal, but has not been fully edited.…”

“…Indirectly, input shaping technology was applied to vibration suppression, expanding from flexible beam structures (such as robotic arms) to hard disk servos with high rigidity resonance [17]- [19]. However, in multi-axis system, the parameters of each axis are different, the adoption of input shaper will make the multi-axis motion trajectory not synchronized.…”

Inverse dynamics analysis of a 6-RR-RP-RR parallel manipulator with offset universal joints

“…As an efficient and convenient approach, the Newton–Euler method has been widely used in recent years. For instance, Chen and Wang [33] used this method to establish a dynamic model for a redundantly actuated cable-driven PM, while Arian et al [34] employed the Newton–Euler method to model the dynamics of a 3-DOF Gantry–Tau manipulator. The legs of a PM can be considered as a series mechanism, allowing for the development of an efficient iterative dynamic model through the iteration of both outward motion and inward forces.…”