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

Harbin Institute of Technology
Université Européenne de Bretagne
Université de Montpellier

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

62 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Páginas (desde-hasta)	527-544
Número de páginas	18
Publicación	Journal of Sound and Vibration
Volumen	394
DOI	https://doi.org/10.1016/j.jsv.2017.02.003
Estado	Publicada - 28 abr 2017

Palabras clave

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",

year = "2017",

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doi = "10.1016/j.jsv.2017.02.003",

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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

UR - https://www.scopus.com/pages/publications/85012928751

U2 - 10.1016/j.jsv.2017.02.003

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

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