Analysis of Configuration of Planar Cable-Driven Parallel Robot on Natural Frequency

This paper studies the configuration of a planar cable-driven parallel robot to reduce the vibration of an end-effector. Since cables are more flexible than rigid links, external disturbances may cause a significant vibration during operation. The characteristics of the vibration are closely related to the natural frequency of the end-effector. And, we consider that the shapes of the frame and the end-effector, and the connection methods of the cables can affect the vibration of the cable-driven parallel robot. Therefore, the first natural frequencies in a required workspace are analyzed by the configuration change of a planar cable-driven parallel robot. The simulation shows that planar cable robots can be designed to reduce vibration by utilizing robots configurations.