Dynamics of cable-driven parallel manipulators with variable length vibrating cables

Arena, Andrea; Ottaviano, Erika; Gattulli, Vincenzo

doi:10.1016/j.ijnonlinmec.2023.104382

Cited by 7 publications

(3 citation statements)

References 36 publications

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“…Since 𝑝𝑝 𝚤𝚤 � (0, τ) = 0, Eq. ( 10) satisfies (6), whereas, to satisfy Eq. ( 7), the following relationship must hold:…”

Section: Discretization Proceduresmentioning

confidence: 99%

“…In this work, a dynamic model that considers cable mass and elasticity is proposed for planar CDPRs with 3 degrees-of-freedom (DOF) and n cables. The model proposed in this work is derived from a more comprehensive 3D model developed by the same authors of the present work in [6] where all the modeling details can be found. The model consists of a set of partial differential equations with boundary conditions modeling the cables behavior coupled with ordinary differential equations (ODE) that model the EE.…”

Section: Introductionmentioning

confidence: 99%

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Direct dynamics of 2D cable-driven parallel robots including cables mass effect and its influence in the control performance

Gómez

2023

Theoretical and Applied Mechanics - AIMETA 2022

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Abstract. Cable-driven parallel robots are a type of parallel manipulators where rigid links are replaced by actuated cables. Although in many cases dynamic models that neglect the cables mass and elasticity are employed to simulate the robot behavior and test the control approach to be used, there are several situations in which their effect cannot be disregarded, especially when large span cables are used, and the cable mass density generates important cable sagging. This work proposes a dynamic model for planar cable-driven parallel robots with 3 degrees-of-freedom considering cables mass and elasticity. Furthermore, the effect of using control approaches based on massless inelastic cables dynamic models on robots with non-negligible cable mass and elasticity is finally assessed.

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“…Since 𝑝𝑝 𝚤𝚤 � (0, τ) = 0, Eq. ( 10) satisfies (6), whereas, to satisfy Eq. ( 7), the following relationship must hold:…”

Section: Discretization Proceduresmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Direct dynamics of 2D cable-driven parallel robots including cables mass effect and its influence in the control performance

Gómez

2023

Theoretical and Applied Mechanics - AIMETA 2022

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show abstract

“…The directional movement of parts is required to perform stages such as feeding, positioning, or manipulation. Typically, various manipulators [1][2][3][4][5], grippers [6,7], sophisticated robots [8][9][10], and other assembly and positioning devices are employed to implement assembly operations through passive [11][12][13], active [14][15][16][17], and hybrid [18] approaches.…”

Section: Introductionmentioning

confidence: 99%

Investigation of the Motion Characteristics of Parts on a Platform Subjected to Planar Oscillations

Kilikevičius,

Liutkauskienė,

Česnavičius

et al. 2023

Applied Sciences

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Positioning applications are very important in a variety of industrial processes, including automatic assembly. This paper proposes a technique for positioning applications that involves employing a platform subjected to planar oscillations along circular, elliptical, and complex trajectories. Dynamic and mathematical models of the motion of a part on the platform were developed to investigate the motion characteristics of the part. The research showed that when the platform was excited in two perpendicular directions by sinusoidal waves, different trajectories of the part’s motion could be obtained by controlling excitation parameters such as the frequencies and amplitudes of the waves and the phase shift between the waves. Furthermore, by adjusting these parameters, the average displacement velocity of the part could be controlled. The results demonstrate that the part can be moved in any direction at a given velocity and can be subjected to complex dense positioning trajectories. Therefore, such a platform can be applied in feeding, positioning, and manipulation tasks.

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Design and Simulation of a Cable-Driven Parallel Manipulator for Monitoring and Inspection of Structures

Ottaviano,

Rea

2023

Lecture Notes in Mechanical Engineering

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Dynamics of cable-driven parallel manipulators with variable length vibrating cables

Cited by 7 publications

References 36 publications

Direct dynamics of 2D cable-driven parallel robots including cables mass effect and its influence in the control performance

Direct dynamics of 2D cable-driven parallel robots including cables mass effect and its influence in the control performance

Investigation of the Motion Characteristics of Parts on a Platform Subjected to Planar Oscillations

Design and Simulation of a Cable-Driven Parallel Manipulator for Monitoring and Inspection of Structures

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