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

Han Yuan; Eric Courteille; Marc Gouttefarde; Pierre-Elie Hervé

doi:10.1016/j.jsv.2017.02.003

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

Han Yuan, Eric Courteille, Marc Gouttefarde, Pierre-Elie Hervé

Tecnalia Research & Innovation

Research output: Contribution to journal › Article › peer-review

58 Citations (Scopus)

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.

Original language	English
Pages (from-to)	527-544
Number of pages	18
Journal	Journal of Sound and Vibration
Volume	394
DOIs	https://doi.org/10.1016/j.jsv.2017.02.003
Publication status	Published - 28 Apr 2017

Keywords

Cable-driven parallel robots
Dynamic stiffness matrix method
Sagging cable model
Harmonic resonance

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10.1016/j.jsv.2017.02.003

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title = "Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method",

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.",

keywords = "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",

author = "Han Yuan and Eric Courteille and Marc Gouttefarde and Pierre-Elie Herv{\'e}",

note = "Publisher Copyright: {\textcopyright} 2017 Elsevier Ltd",

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AU - Yuan, Han

AU - Courteille, Eric

AU - Gouttefarde, Marc

AU - Hervé, Pierre-Elie

PY - 2017/4/28

Y1 - 2017/4/28

N2 - 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.

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.

KW - Cable-driven parallel robots

KW - Dynamic stiffness matrix method

KW - Sagging cable model

KW - Harmonic resonance

KW - Cable-driven parallel robots

KW - Dynamic stiffness matrix method

KW - Sagging cable model

KW - Harmonic resonance

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DO - 10.1016/j.jsv.2017.02.003

M3 - Article

SN - 0022-460X

VL - 394

SP - 527

EP - 544

JO - Journal of Sound and Vibration

JF - Journal of Sound and Vibration

ER -

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

Abstract

Keywords

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