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Oscillation Reduction and Frequency Analysis of Under-Constrained Cable-Driven Parallel Robot with Three Cables

Published online by Cambridge University Press:  07 June 2019

Sung Wook Hwang ,
Jeong-Hyeon Bak ,
Jonghyun Yoon  and
Jong Hyeon Park
Sung Wook Hwang
Affiliation:
Department of Mechanical Engineering, Hanyang University, Seoul, Korea. E-mails: gagys@naver.com, superrogin@gmail.com, potermk2@nate.com
Jeong-Hyeon Bak
Affiliation:
Department of Mechanical Engineering, Hanyang University, Seoul, Korea. E-mails: gagys@naver.com, superrogin@gmail.com, potermk2@nate.com
Jonghyun Yoon
Affiliation:
Department of Mechanical Engineering, Hanyang University, Seoul, Korea. E-mails: gagys@naver.com, superrogin@gmail.com, potermk2@nate.com
Jong Hyeon Park*
Affiliation:
Department of Mechanical Engineering, Hanyang University, Seoul, Korea. E-mails: gagys@naver.com, superrogin@gmail.com, potermk2@nate.com
*
*Corresponding author. E-mail: jongpark@hanyang.ac.kr
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Summary

Cable-driven parallel robots (CDPRs) possess a lot of advantages over conventional parallel manipulators and link-based robot manipulators in terms of acceleration due to their low inertia. This paper deals with under-constrained CDPRs, which manipulate the end-effector to carrying the payload by using a number of cables less than six, often used preferably owing to their simple structures. Since a smaller number of cables than six are used, the end-effector of CDPR has uncontrollable degrees of freedom and that causes swaying motion and oscillations. In this paper, a scheme to curb on the unwanted oscillation of the end-effector of the CDPR with three cables is proposed based on multimode input shaping. The precise dynamic model of the under-constrained CDPR is obtained to find natural frequencies, which depends on the position of the end-effector. The advantage of the proposed method is that it is practicable to generate the trajectories for vibration suppression based on multi-mode input-shaping scheme in spite of the complexity in the dynamics and the difficulty in computing the natural frequencies of the CDPR, which are required in any input-shaping scheme. To prove the effectiveness of the proposed method, computer simulations and experiments were carried out by using 3-D motion for CDPR with three cables.

Keywords

Under-constrained cable-driven parallel robotInput shapingVibrationNatural frequencyTrajectory generation
Type
Articles
Information
Robotica , Volume 38 , Issue 3 , March 2020 , pp. 375 - 395
Copyright
© Cambridge University Press 2019 

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