Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method

Han Yuan; Eric Courteille; Marc Gouttefarde; Pierre Elie Hervé

doi:10.1016/j.jsv.2017.02.003

Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method

Han Yuan
, Eric Courteille^*
, Marc Gouttefarde
, Pierre Elie Hervé

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen
Université Européenne de Bretagne
Université de Montpellier

Research output: Contribution to journal › Article › peer-review

62 Scopus citations

Abstract

This paper focuses on the vibration analysis of Cable-Driven Parallel Robots (CDPRs). An oscillating model of CDPRs able to capture the dynamic behavior of the cables is derived using Lagrangian approach in conjunction with the Dynamic Stiffness Matrix method. Then, an original approach to analyze the modal interaction between the local cable modes and the global CDPR modes is presented. To illustrate this approach, numerical investigations and experimental analyses are carried out on a large-dimension 6-DOF suspended CDPR driven by 8 cables.

Original language	English
Pages (from-to)	527-544
Number of pages	18
Journal	Journal of Sound and Vibration
Volume	394
DOIs	https://doi.org/10.1016/j.jsv.2017.02.003
State	Published - 28 Apr 2017
Externally published	Yes

Keywords

Cable-driven parallel robots
Dynamic stiffness matrix method
Harmonic resonance
Sagging cable model

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10.1016/j.jsv.2017.02.003

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title = "Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method",

abstract = "This paper focuses on the vibration analysis of Cable-Driven Parallel Robots (CDPRs). An oscillating model of CDPRs able to capture the dynamic behavior of the cables is derived using Lagrangian approach in conjunction with the Dynamic Stiffness Matrix method. Then, an original approach to analyze the modal interaction between the local cable modes and the global CDPR modes is presented. To illustrate this approach, numerical investigations and experimental analyses are carried out on a large-dimension 6-DOF suspended CDPR driven by 8 cables.",

keywords = "Cable-driven parallel robots, Dynamic stiffness matrix method, Harmonic resonance, Sagging cable model",

author = "Han Yuan and Eric Courteille and Marc Gouttefarde and Herv{\'e}, \{Pierre Elie\}",

note = "Publisher Copyright: {\textcopyright} 2017 Elsevier Ltd",

year = "2017",

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day = "28",

doi = "10.1016/j.jsv.2017.02.003",

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T1 - Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method

AU - Yuan, Han

AU - Courteille, Eric

AU - Gouttefarde, Marc

AU - Hervé, Pierre Elie

PY - 2017/4/28

Y1 - 2017/4/28

N2 - This paper focuses on the vibration analysis of Cable-Driven Parallel Robots (CDPRs). An oscillating model of CDPRs able to capture the dynamic behavior of the cables is derived using Lagrangian approach in conjunction with the Dynamic Stiffness Matrix method. Then, an original approach to analyze the modal interaction between the local cable modes and the global CDPR modes is presented. To illustrate this approach, numerical investigations and experimental analyses are carried out on a large-dimension 6-DOF suspended CDPR driven by 8 cables.

AB - This paper focuses on the vibration analysis of Cable-Driven Parallel Robots (CDPRs). An oscillating model of CDPRs able to capture the dynamic behavior of the cables is derived using Lagrangian approach in conjunction with the Dynamic Stiffness Matrix method. Then, an original approach to analyze the modal interaction between the local cable modes and the global CDPR modes is presented. To illustrate this approach, numerical investigations and experimental analyses are carried out on a large-dimension 6-DOF suspended CDPR driven by 8 cables.

KW - Cable-driven parallel robots

KW - Dynamic stiffness matrix method

KW - Harmonic resonance

KW - Sagging cable model

UR - https://www.scopus.com/pages/publications/85012928751

U2 - 10.1016/j.jsv.2017.02.003

DO - 10.1016/j.jsv.2017.02.003

M3 - 文章

AN - SCOPUS:85012928751

SN - 0022-460X

VL - 394

SP - 527

EP - 544

JO - Journal of Sound and Vibration

JF - Journal of Sound and Vibration

ER -

Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method

Abstract

Keywords

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