Research Papers

Dynamic Modeling of Cable-Driven Parallel Manipulators With Distributed Mass Flexible Cables

[+] Author and Article Information
Jingli Du

Key Laboratory of Electronic Equipment Structure
Design of Ministry of Education,
Xidian University,
Xi'an, Shaanxi 710071, China
e-mail: jldu@mail.xidian.edu.cn

Sunil K. Agrawal

Department of Mechanical Engineering,
Columbia University,
New York, NY 10027
e-mail: Sunil.Agrawal@columbia.edu

1Corresponding author.

Contributed by the Technical Committee on Vibration and Sound of ASME for publication in the JOURNAL OF VIBRATION AND ACOUSTICS. Manuscript received November 8, 2013; final manuscript received December 23, 2014; published online February 13, 2015. Assoc. Editor: Guilhem Michon.

J. Vib. Acoust 137(2), 021020 (Apr 01, 2015) (8 pages) Paper No: VIB-13-1392; doi: 10.1115/1.4029486 History: Received November 08, 2013; Revised December 23, 2014; Online February 13, 2015

A cable-driven parallel manipulator is an economic way to achieve manipulation over large workspace. However, unavoidable vibration in long cables can dramatically degenerate the positioning performance of manipulators. In this paper, dynamic models of large cable-driven parallel manipulators (CDPMs) are addressed where each cable is considered with distributed mass and can change in length during operation. The dynamic equation of a cable deployed or retrieved is derived using Hamilton's principle. The dynamic model of the system is characterized by partial differential equations with algebraic constraints. By properly selecting the independent unknowns, we solve the model using assumed-mode method.

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Fig. 1

The sketch of a large CDPM

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Fig. 2

A typical CDPM for large workspace application

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Fig. 3

Unstretched cable length variation

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Fig. 4

Cable tension variation

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Fig. 5

Velocity of the end-effector

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Fig. 6

Divergence of the end-effector

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Fig. 7

Tensions of cable 1 at its ends

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Fig. 8

Midpoint vibration of cable 1 in global frame

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Fig. 9

Midpoint vibration of cable 1 in local cable frame

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Fig. 10

In-plane profiles of cable 1 at different instants for t = 0–0.88 s

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Fig. 11

Out-plane profiles of cable 1 at different instants for t = 0–0.88 s



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