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

Geometrico-static Analysis of Under-constrained Cable-driven Parallel Robots

This paper studies the kinematics and statics of cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, together with a general procedure aimed at effectively solving, in analytical form, the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, fo...

On the robustness of cable configurations of suspended cable-driven parallel robots

Cable-driven parallel robot (CDPR) are parallel robots that use coilable cables as legs. We are interested here in suspended CDPR for which there is no cable that exert a downward force on the platform. If we assume that the cables are mass-less and not elastic it has been shown that at a given pose whatever is the number m > 6 of cables there will always be at most 6 cables under tension simul...

Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables

In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...

Application of the Rigid Finite Element Method to the Simulation of Cable-Driven Parallel Robots

Kinematics and dynamics of cable-driven parallel robots are affected by the cables used as force and motion transmitting elements. Flexural rigidity of these cables is of major interest to better understand dynamics of these systems and to improve their accuracy. The approach for modeling spatial cable dynamics, as presented in this paper, is based on the modified rigid-finite element method us...

Free Vibration Analysis of Spinning Spindles: A Calibrated Dynamic Stiffness Matrix Method