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

被引：53
|
作者：
Yuan, Han [1 ,2 ]
Courteille, Eric [2 ]
Gouttefarde, Marc [3 ]
Herve, Pierre-Elie [3 ]
机构：
[1] Harbin Inst Technol Shenzhen, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China
[2] Univ Europeenne Bretagne, INSA LGCGM EA 3913, 20 Ave Buttes Coesmes, F-35043 Rennes, France
[3] Univ Montpellier, CNRS, LIRMM, Robot Dept, 161 Rue Ada, F-34095 Montpellier 5, France
来源：
JOURNAL OF SOUND AND VIBRATION | 2017年 / 394卷
关键词：
Cable-driven parallel robots; Dynamic stiffness matrix method; Sagging cable model; Harmonic resonance; STATIC ANALYSIS; HIGH-SPEED; MANIPULATORS;
D O I：
10.1016/j.jsv.2017.02.003
中图分类号：
O42 [声学];
学科分类号：
070206 ; 082403 ;
摘要：
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. (C) 2017 Elsevier Ltd. All rights reserved.
引用
收藏
页码：527 / 544
页数：18
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