불완전 구속 와이어 시스템의 진동 특성 해석 및 진동 감쇄 궤적 생성

Abstract

In this paper, vibration characteristic of an incompletely-restrained wire mechanism is investigated and a trajectory generation method reducing vibration is proposed. Incompletely-restrained wire suspended system is difficult to control its vibration in the uncontrollable direction, which cannot be controlled with the wire tension. To resolve this problem, frequency characteristic is investigated with analysis of the system and it is shown that the characteristics are related not only to the mechanical property of the payload, but also to the position in the workspace. Anti-vibrational trajectory is generated with the input-shaping method, which is based on the frequency characteristic analysis of this paper. Experiment of a wire flying system with the vibration reduction trajectory shows the effects of the proposed method.