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- Title
Dynamic modeling and characterization of compliant cable-driven parallel robots containing flexible cables.
- Authors
Peng, Miaojiao; Xiao, Longhai; Chen, Qinglin; Wei, Guowu; Lin, Qi; Zhuo, Jiayong
- Abstract
Flexible cables in cable-driven parallel robots (CDPRs) are easy to be excited and vibrate. Cable vibration will react on the end-effector, causing attitude deviation of the end-effector. The main objective of this study is to accurately model axially moving flexible cables and characterize the dynamic behaviors of associated compliant CDPRs. Firstly, a model for transverse vibration of the axially moving length-variable cable is developed. On this basis, an original nonlinear dynamic model of the CDPRs able to capture the vibration of the cables and the dynamics of the end-effector is proposed. Secondly, the frequency–amplitude relationship of the CDPR is obtained. Moreover, the significance of the excitation effect caused by the axially moving length-variable cables is demonstrated, by comparing the results with and without excitation effect at different frequencies. It turns out that, as the oscillation frequency of the end-effector increases, the end-effector and cables exhibit the dynamics process from steady state to unstable large-amplitude vibration and finally to stable small-amplitude vibration. This indicates that the dynamics of the CDPR exhibit non-linear characteristics, due to the influence of flexible cables. Finally, the proposed dynamic model of compliant CDPRs is validated by experiments performed in the laboratory.
- Subjects
PARALLEL robots; DYNAMIC models; CABLES; FREQUENCIES of oscillating systems; COMPLIANT behavior
- Publication
Robotica, 2023, Vol 41, Issue 10, p3160
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/S0263574723000930