Analytical dynamic solution of a flexible cable-suspended manipulator

doi:10.1007/s11465-013-0271-9

Frontiers of Mechanical Engineering

0, Vol.

Issue (): 350-359 https://doi.org/10.1007/s11465-013-0271-9

RESEARCH ARTICLE

本期目录

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD(

)

Mechatronics Research Laboratory, College of Mechanical Engineering, Shahrood University of Technology, Shahrood, Iran

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Abstract：

Cable-suspended manipulators are used in large scale applications with, heavy in weight and long in span cables. It seems impractical to maintain cable assumptions of smaller robots for large scale manipulators. The interactions among the cables, platforms and actuators can fully evaluate the coupled dynamic analysis. The structural flexibility of the cables becomes more pronounced in large manipulators. In this paper, an analytic solution is provided to solve cable vibration. Also, a closed form solution can be adopted to improve the dynamic response to flexibility. The output is provided by the optimal torque generation subject to the actuator limitations in a mechatronic sense. Finally, the performance of the proposed algorithm is examined through simulations.

Key words： parallel robot flexible cable suspended robot dynamic

收稿日期: 2013-04-26 出版日期: 2013-12-05

Corresponding Author(s): BAMDAD Mahdi,Email:Bamdad@shahroodut.ac.ir

引用本文:

. Analytical dynamic solution of a flexible cable-suspended manipulator[J]. Frontiers of Mechanical Engineering, 0, (): 350-359.
Mahdi BAMDAD. Analytical dynamic solution of a flexible cable-suspended manipulator. Front Mech Eng, 0, (): 350-359.

链接本文:

https://academic.hep.com.cn/fme/CN/10.1007/s11465-013-0271-9
https://academic.hep.com.cn/fme/CN/Y0/V/I/350

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