Dynamic Modeling of Cable-Driven Parallel Manipulators With Distributed Mass Flexible Cables

Abstract

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.

Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

“…The dynamics of CDPRs simulated with lumped mass or continuous mass cable modeling, e.g. [51][52][53], have recently attracted more interests. However, since quasi-static operation is assumed in the present work, the classic elastic catenary cable model [5] is considered in order to take into account the cable mass and elasticity.…”

Design and analysis of a novel cable-actuated palletizing robot

“…5,9 Numerous research have been conducted on NIST RoboCrane-like CPMs, 10,11 such as the workspace determination 5,12 and the dynamic modeling and control. [13][14][15] Alternatively, the fully constrained CPMs, like the FALCON robot, can provide better performances. 16,17 However, both the abovementioned fully and underconstrained CPMs occupy a large empty space, and the radiating cables in workspace definitely increase the risk of collision in comparison with other structures.…”

Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method

“…Although there are a lot of previous works on the vibration analysis and 30 control of rigid-link parallel robots, e.g. [14,15,16,17,18,19,20,21,22], only few studies are dedicated to the vibration analysis of CDPRs [23,24,25,26,27,28,29,30]. Vibrations can notably be induced by (brutal) end-effector velocity changes, wind disturbance, and/or friction of the cables around pulleys [24].…”

“…Moreover, as well-known, the accuracy of FEM depends on the number of elements so that there exists a strong trade-off between accuracy and computational complexity. The dynamic behavior of CDPRs with long sagging cables has been recently investigated in an analytical way using Hamilton's principle [30].…”

“…The accuracy of the dynamic model thereby obtained highly depends on the adopted shape functions of the transverse cable vibrations and on their number. In [30], no experimental validation of the theoretical predictions of the CDPR dynamic responses has been presented. Moreover, it should also be noted that the time integration of such dynamic models has not received particular attention.…”