RT Journal Article
T1 Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method
A1 Yuan, Han
A1 Courteille, Eric
A1 Gouttefarde, Marc
A1 Hervé, Pierre-Elie
AB 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.
SN 0022-460X
YR 2017
FD 2017-04-28
LA eng
NO 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
NO Publisher Copyright: © 2017 Elsevier Ltd
DS TECNALIA Publications
RD 3 jul 2024