Analysis for dynamic characteristic of the flexible cable system

被引：0
|
作者：
Zhang, Tingyu [1 ]
Jin, Jian [1 ]
Zhang, Guoxian [1 ]
机构：
[1] Shanghai Univ, Dept Mech Automat, Shanghai 200072, Peoples R China
来源：
PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS 2007, VOLS 1 AND 2 | 2007年
关键词：
flexible cable; dynamics; finite element method; inspection robot;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For studying the dynamics of a flexible catenary cable with an inspection robot, a three dimensional finite element model is described in this paper. The equations are derived using the Hamilton's principle and the effect of stress stiffening is considered. Compared with the simulation results calculated from other models, the accuracy and effectivity of the model are validated. The dynamics behavior of the cable with the robot is investigated. The simulation and the experiment results are given to discuss the influence of the cable's vibration and deformation on the motion of the robot. Considering the dynamics characteristic of the cable, a type of control strategy for the robot is proposed in this paper. The analysis results also convince us that the movement of the robot is restricted for security in some circumstances.
引用
收藏
页码：891 / 895
页数：5
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