Oscillation Reduction and Frequency Analysis of Under-Constrained Cable-Driven Parallel Robot with Three Cables
- Title
- Oscillation Reduction and Frequency Analysis of Under-Constrained Cable-Driven Parallel Robot with Three Cables
- Author
- 박종현
- Keywords
- Under-constrained cable-driven parallel robot; Input shaping; Vibration; Natural frequency; Trajectory generation
- Issue Date
- 2019-03
- Publisher
- CAMBRIDGE UNIV PRESS
- Citation
- ROBOTICA, v. 38, no. 3, Page. 375-395
- Abstract
- Cable-driven parallel robots (CDPRs) possess a lot of advantages over conventional parallel manipulators and link-based robot manipulators in terms of acceleration due to their low inertia. This paper deals with under-constrained CDPRs, which manipulate the end-effector to carrying the payload by using a number of cables less than six, often used preferably owing to their simple structures. Since a smaller number of cables than six are used, the end-effector of CDPR has uncontrollable degrees of freedom and that causes swaying motion and oscillations. In this paper, a scheme to curb on the unwanted oscillation of the end-effector of the CDPR with three cables is proposed based on multimode input shaping. The precise dynamic model of the under-constrained CDPR is obtained to find natural frequencies, which depends on the position of the end-effector. The advantage of the proposed method is that it is practicable to generate the trajectories for vibration suppression based on multi-mode input-shaping scheme in spite of the complexity in the dynamics and the difficulty in computing the natural frequencies of the CDPR, which are required in any input-shaping scheme. To prove the effectiveness of the proposed method, computer simulations and experiments were carried out by using 3-D motion for CDPR with three cables.
- URI
- https://www.cambridge.org/core/journals/robotica/article/oscillation-reduction-and-frequency-analysis-of-underconstrained-cabledriven-parallel-robot-with-three-cables/230D1901AFB6A5E2B9B6CA12FF65B0BAhttps://repository.hanyang.ac.kr/handle/20.500.11754/151756
- ISSN
- 0263-5747; 1469-8668
- DOI
- 10.1017/S0263574719000687
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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