Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2022-11-28T06:10:56Z | - |
dc.date.available | 2022-11-28T06:10:56Z | - |
dc.date.issued | 2021-08 | - |
dc.identifier.citation | IEEE/ASME Transactions on Mechatronics, v. 26, NO. 4, Page. 1812-1819 | en_US |
dc.identifier.issn | 1083-4435;1941-014X | en_US |
dc.identifier.uri | https://ieeexplore.ieee.org/document/9385913 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/177691 | - |
dc.description.abstract | In recent years, cable-driven-parallel robots (CDPRs) have been studied for faade operations. There are various types of CDPRs; however, under-constrained CDPRs are capable of wider operating in faade workspaces than over-constrained CDPRs. Therefore, in this study, a dual ascender robot (DAR) was used for faade operations. Herein, two suggestions for safe faade operations are presented. First, a flexible nylon fiber rope was modeled such that the vibration direction, natural frequency, and damping ratio of the DAR could be converted through a Jacobian matrix and modal decomposition from the rope model. Second, input shaping control was applied to reduce vibrations, based on the vibration model of a DAR using the rope model. Modal decomposition was verified using a verification experiment, and the effect of input shaping was evaluated by comparing the w/ input shaping and w/o input shaping experiments. w/ input shaping case was shown about 48% reducing robot vibration and about 35% shortening settling time compare with w/o input shaping case. IEEE | en_US |
dc.description.sponsorship | This work was supported by the National Research Foundation of Korea (NRF) Grant funded by the Ministry of Science and ICT for First-Mover Program for Accelerating Disruptive Technology Development under Grant NRF-2018M3C1B9088328, Grant 2018M3C1B9088331, and Grant 2018M3C1B9088332. | en_US |
dc.language | en | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
dc.subject | Cable-driven parallel Robots | en_US |
dc.subject | Input shaping | en_US |
dc.subject | Mechanism design | en_US |
dc.subject | Modal decomposition | en_US |
dc.subject | Rope modeling | en_US |
dc.title | Vibration reduction of flexible rope-driven mobile robot for safe faade operation | en_US |
dc.type | Article | en_US |
dc.relation.no | 4 | - |
dc.relation.volume | 26 | - |
dc.identifier.doi | 10.1109/TMECH.2021.3068622 | en_US |
dc.relation.page | 1812-1819 | - |
dc.relation.journal | IEEE/ASME Transactions on Mechatronics | - |
dc.contributor.googleauthor | Seo, Myoungjae Seo School of | - |
dc.contributor.googleauthor | Yoo, Sungkeun | - |
dc.contributor.googleauthor | Oh, Joohyun | - |
dc.contributor.googleauthor | Choi, Myeongjin | - |
dc.contributor.googleauthor | Kim, Hwa Soo | - |
dc.contributor.googleauthor | Seo, TaeWon | - |
dc.sector.campus | S | - |
dc.sector.daehak | 공과대학 | - |
dc.sector.department | 기계공학부 | - |
dc.identifier.pid | taewonseo | - |
dc.identifier.orcid | https://orcid.org/0000-0001-9447-7675 | - |
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