Advanced SearchSearch Tips
Vibration Analysis of Planar Cable-Driven Parallel Robot Configurations
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Vibration Analysis of Planar Cable-Driven Parallel Robot Configurations
Piao, Jinlong; Jung, Jinwoo; Jin, Xuejun; Park, Sukho; Park, Jong-Oh; Ko, Seong Young;
  PDF(new window)
This paper focuses on the vibration analysis of planar cable-driven parallel robots on their configurations. Despite of many advantages of the cable robots, elasticity of the cables may cause the vibration at the existence of external disturbance, resulting in deterioration of positioning accuracy. According to the vibration theory, having high first order natural frequency can prevent resonance with low frequency disturbance from the surrounding environment. A series of simulations showed that choosing frame / end-effector shape and cable connection method affects robots' natural frequency. For the precise simulation, the cables are modeled as linear springs and axial vibration of cables is mainly considered. Aspect ratios of the frame and end-effector are defined as non-dimensional parameters while their areas are fixed. It was shown that vibration analysis guides to design a planar cable robot in terms of high capacity to reduce vibration.
Cable-Driven Parallel Robot;Vibration Analysis;Natural Frequency;Cable Connection;
 Cited by
A. Pott, C. Meyer, and A. Verl, "Large-scale assembly of solar power plants with parallel cable robots," 41st International Symposium on Robotics and 6th German conference on Robotics, pp. 999-1004, Jun 2010.

R. Williams, "Five-hundred meter aperture spherical radio telescope (FAST) cable-Suspended robot model and comparison with the Arecibo observatory," Internet publication, July 2015.

J. Albus, R. Bostelman, and N. Dagalakis, "The NIST robocrane," Journal of Robot Systems, vol. 10, no. 5, pp. 709-724, Jul. 1993 crossref(new window)

H. Jamshidifar. B. Fidan, G. Gungor and A. Khajepour, "Adaptive vibration control of a flexible cable driven parallel robot," 15th IFAC Symposium on Information Control Problems in Manufacturing, vol. 48, pp. 1302-1307, Aug. 2015.

X. Weber, L. Cuvillon, and J. Gangloff, "Active vibration canceling of a cable- driven parallel robot in modal space," IEEE International Conference on Robotics and Automation, pp. 1599-1604, May 2015.

J. Du, H. Bao, C. Cui, and D. Yang, "Dynamic analysis of cable-driven parallel manipulators with time-varying cable lengths," Finite Elements in Analysis and Design, vol. 48, pp. 1392-1399, Jan. 2012. crossref(new window)

Z.-F. Shao, X. Tang, L.-P. Wang, and Z. You, "A fuzzy PID approach for the vibration control of the FSPM," International Journal of Advanced Robotic Systems, vol. 10, Jan. 2013.

J. Du, X. Duan, and Y. Qiu, "Dynamic analysis and vibration attenuation of cable-driven parallel manipulators for large workspace applications," Advances in Mechanical Engineering, vol. 5, 2013.

S. Behzadipour and A. Khajepour, "Stiffness of cable-based parallel manipulators with application to stability analysis," Journal of Mechanical Design, vol. 128, no. 1, pp. 303-310, 2006. crossref(new window)

S. Kawamura, H. Kino and C. Won, "High-speed manipulation by using parallel wire-driven robots," Robotica, vol. 18, no. 1, pp. 13-21, Sep. 2000. crossref(new window)

P. Mukherjee, B. Dasgupta and A. Malik, "Dynamic stability index and vibration analysis of a flexible Stewart platform," Journal of Sound and Vibration, vol. 307, no. 3, pp. 495-512, Nov. 2007. crossref(new window)

X. Diao and O. Ma, "Vibration analysis of cable-driven parallel manipulators," Multibody system dynamics, vol. 21, no. 4, pp. 347-360, May 2009. crossref(new window)

Z. Liu, X. Tang, Z. Shao, L. Wang, and L. Tang, "Research on longitudinal vibration characteristic of the six-cable-driven parallel manipulator in FAST," Advances in Mechanical Engineering, vol. 5, 2013.

X. Tang, Z. Liu, Z. Shao, and L. Wang, "Self-excited vibration analysis for the feed support system in FAST," International Journal of Advanced Robotic Systems, vol. 11, pp. 1392-1399, Jan. 2014.

A.F. Tang, Y. Li, L.F. Kong, and X.J. Cheng, "Vibration analysis of tendon-based parallel robot for processing," Advanced Materials Research, vols. 655-657, pp. 1086-1091, Jan 2013. crossref(new window)

W. Kraus, V. Schmidt, P. Rajendra and A. Pott, "System identification and cable force control for a cable-driven parallel robot with industrial servo drives," 2014 IEEE International Conference on Robotics & Automation, pp. 5921-5926, June. 2014.

J. Piao, J. Jung, J.-A. Seon, S. Park, J.-O. Park and S.Y. Ko, "Simulation of effect of cable robot configuration on natural frequency," IEEE International Conference on Mechatronics and Automation, pp. 1828-1833, Aug 2015.

D. Inman, Engineering Vibration, 3rd Ed., Pearson Education, Inc, USA, 2007.