Dynamic Analysis and Vibration Attenuation of Cable-Driven Parallel Manipulators for Large Workspace Applications
Joint Authors
Qiu, Yuanying
Duan, Xuechao
Du, Jingli
Source
Advances in Mechanical Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-12-22
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
Cable-driven parallel manipulators are one of the best solutions to achieving large workspace since flexible cables can be easily stored on reels.
However, due to the negligible flexural stiffness of cables, long cables will unavoidably vibrate during operation for large workspace applications.
In this paper a finite element model for cable-driven parallel manipulators is proposed to mimic small amplitude vibration of cables around their desired position.
Output feedback of the cable tension variation at the end of the end-effector is utilized to design the vibration attenuation controller which aims at attenuating the vibration of cables by slightly varying the cable length, thus decreasing its effect on the end-effector.
When cable vibration is attenuated, motion controller could be designed for implementing precise large motion to track given trajectories.
A numerical example is presented to demonstrate the dynamic model and the control algorithm.
American Psychological Association (APA)
Du, Jingli& Duan, Xuechao& Qiu, Yuanying. 2013. Dynamic Analysis and Vibration Attenuation of Cable-Driven Parallel Manipulators for Large Workspace Applications. Advances in Mechanical Engineering،Vol. 2013, no. 2013, pp.1-6.
https://search.emarefa.net/detail/BIM-465908
Modern Language Association (MLA)
Du, Jingli…[et al.]. Dynamic Analysis and Vibration Attenuation of Cable-Driven Parallel Manipulators for Large Workspace Applications. Advances in Mechanical Engineering No. 2013 (2013), pp.1-6.
https://search.emarefa.net/detail/BIM-465908
American Medical Association (AMA)
Du, Jingli& Duan, Xuechao& Qiu, Yuanying. Dynamic Analysis and Vibration Attenuation of Cable-Driven Parallel Manipulators for Large Workspace Applications. Advances in Mechanical Engineering. 2013. Vol. 2013, no. 2013, pp.1-6.
https://search.emarefa.net/detail/BIM-465908
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-465908