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

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ISSN: 0022-460X
DOI: 10.1016/j.jsv.2017.02.003
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2017-04-28
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Abstract
This paper focuses on the vibration analysis of Cable-Driven Parallel Robots (CDPRs). An oscillating model of CDPRs able to capture the dynamic behavior of the cables is derived using Lagrangian approach in conjunction with the Dynamic Stiffness Matrix method. Then, an original approach to analyze the modal interaction between the local cable modes and the global CDPR modes is presented. To illustrate this approach, numerical investigations and experimental analyses are carried out on a large-dimension 6-DOF suspended CDPR driven by 8 cables.
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Publisher Copyright: © 2017 Elsevier Ltd
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Cable-driven parallel robots , Dynamic stiffness matrix method , Sagging cable model , Harmonic resonance , Cable-driven parallel robots , Dynamic stiffness matrix method , Sagging cable model , Harmonic resonance , Condensed Matter Physics , Mechanics of Materials , Acoustics and Ultrasonics , Mechanical Engineering
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Yuan , H , Courteille , E , Gouttefarde , M & Hervé , P-E 2017 , ' Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method ' , Journal of Sound and Vibration , vol. 394 , pp. 527-544 . https://doi.org/10.1016/j.jsv.2017.02.003