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

Yuan, Hang; Courteille, Eric; Gouttefarde, Marc; Hervé, Pierre-Elie

doi:10.1016/j.jsv.2017.02.003

Cited by 59 publications

(34 citation statements)

References 46 publications

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“…With the increasing use of robots in various applications, the need for structures that have no limitations of series robots and with special features such as precision, acceleration and high load-carrying capability have been considered more than ever. Parallel robot mechanism is connected end-effector with several closed loop kinematic chain to the base [2]. Due to various weakness of series and parallel robotics such as small workspace, capable of carrying much more than the usual robots and high cost of installation and maintenance, many industries are still not equipped to robotics [3].…”

Section: Introductionmentioning

confidence: 99%

Using artificial neural network for forward kinematic problem of under-constrained cable robots

Heidari¹,

Faritus²,

Shateyi³

2018

J. vibroeng.

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Cable-Driven Parallel Robot has many advantages. However, the problems of cable collision between each other and environment, the lack of proper structure and non-positive cable tension prevent the spread of them. In this work, a neural network (NN) model of under constrained cable robots is presented with external forces applied to the end-effector (EE) for computing the position of it. As in under-constrained robot's kinematics and statics are innately coupled together, and they contemporaneously should be considered the forward kinematic problem of the robot change to an optimization problem. This approach does not require pre-knowledge of the uncertainties upper bounds and linear regression form of kinematic and dynamic models. Moreover, to ensure that all cables remain in tension, proposed control algorithm benefit the internal force concept in its structure. The main contribution of this paper has three goals. First, a method is used toward kinematic problem of the under constrained cable robot modeling using four bar linkage kinematic concept, which could be used in online control approaches for real-time purposes. Second, in order to track the position of end-effector, an online PD controller is designed by the three error criteria methods such as IAE, ISE and ITSE. Finally, as the third contribution, NN control approach is applied in order to validate the model. A model is created based on the robot's geometry and dynamic to solve the forward kinematics problem. So, the forward kinematic problem is solved offline and used online. Moreover, an analysis of workspace is performed which discovers that the solution of the forward kinematic problem of the under-constrained cable robots is unique in this case. In addition, a modified local linear model tree algorithm for nonlinear system modelling are proposed. The results show the effectiveness of the proposed approach in modeling the under constrained cable robot.

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Section: Introductionmentioning

confidence: 99%

Using artificial neural network for forward kinematic problem of under-constrained cable robots

Heidari¹,

Faritus²,

Shateyi³

2018

J. vibroeng.

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“…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.…”

Section: Introductionmentioning

confidence: 99%

“…Because the corresponding inverse kinetostatic problem is difficult to solve in real-time, assuming that the cable sag is relatively small, a simplified modeling of cables of non-negligible mass can be considered [54]. Compared to the use of the full elastic catenary cable model, it leads to a simplified static analysis of large-dimension CDPRs [47,55] which is of significant interest for real-time control purposes and for vibration analysis [53].…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2019

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This paper deals with the modeling and vision-based control of large-dimension cable-driven parallel robots. Inverse kinematics and instantaneous inverse kinematics models are derived from the elastic catenary cable modeling. These models turn out to be dependent on the pose of the mobile platform (end-effector), on the cable tangent directions and on the cable tensions. In order to control the motion of the robot, a position-based visual servo control is used, where the mobile platform pose is measured by vision and used for regulation. A multi-camera setup and load cells provide the aforementioned desired measurements, i.e., the mobile platform pose, the directions of the tangents to the cables, and the cable tensions. The proposed approach was validated in experiments on the large-dimension cable-driven parallel robot prototype CoGiRo of global dimensions 15 m x 11 m x 6 m (L x l x h). A maximum error of less than 1 cm in position and 0.5 • in orientation was achieved. Moreover, in the case of cable-driven parallel robots larger than the prototype CoGiRo, simulations were conducted in order to assess the influence on the vision-based control of four instantaneous inverse kinematics models.

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“…[15][16][17] The SSA of CDM is aiming to analyze and improve the static positioning accuracy, [16][17][18] especially for the pick-and-place application, 19 such as the CoGiRo. 18 The purpose of DSA of CDM is to analyze the vibration of those applications [15][16][17] requiring high performances, especially dynamic performances, 16 such as high-speed FALCON 20 and large radio telescope FAST (Five-hundred-meter Aperture Spherical radio Telescope). 21 Whether SSA or DSA, cable modeling should be studied first.…”

Section: Introductionmentioning

confidence: 99%

“…22,23 The third model is used for high-speed, large-dimension, or heavy-load CDM. 16,[23][24][25][26][27][28] Previous researches have shown that the sagging cable model is divided into two-dimensional inclined cable [16][17][18][19]29 and three-dimensional inclined cable. 15,23,30 Riehl et al 29 analyzed the influence of the sagging cable model on the end-effector positioning, the control lengths of the cables, and the cable tensions.…”

Section: Introductionmentioning

confidence: 99%

Analysis on variable stiffness of a cable-driven parallel–series hybrid joint toward wheelchair-mounted robotic manipulator

Zhang

Cao

Hou

et al. 2019

Advances in Mechanical Engineering

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The design of variable stiffness mechanism is of great importance to wheelchair-mounted robotic manipulators. In this article, the authors propose a cable-driven parallel-series hybrid joint toward wheelchair-mounted robotic manipulators with adjusting the system stiffness actively. The joint is a cable-driven, compression-spring-supported hybrid mechanism. Then, the kinematic analysis and cable tension analysis through static modeling are established to derive the joint stiffness model. Finally, cable-driven parallel-series hybrid joint stiffness adjustment ability analysis is carried out in four different load cases with MATLAB. Featured with light structure, stiffness adjustability, and large workspace, the proposed cabledriven parallel-series hybrid joint proves to be of great potential use for wheelchair-mounted robotic manipulators.

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

Cited by 59 publications

References 46 publications

Using artificial neural network for forward kinematic problem of under-constrained cable robots

Using artificial neural network for forward kinematic problem of under-constrained cable robots

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

Analysis on variable stiffness of a cable-driven parallel–series hybrid joint toward wheelchair-mounted robotic manipulator

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