Analytical dynamic solution of a flexible cable-suspended manipulator

doi:10.1007/s11465-013-0271-9

Front Mech Eng

0, Vol.

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

RESEARCH ARTICLE

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.

Keywords parallel robot flexible cable suspended robot dynamic

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

Issue Date: 05 December 2013

Cite this article:

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

URL:

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

Fig.1 General cable-suspended manipulator model

Tab.1 Manipulator inertial parameter

Tab.2 Actuator parameters

Tab.3 Cable parameters

Fig.2 Specific trajectory: (a) End-effectorβposes and (b) velocities

Fig.3 Motor Computed Torque

Tab.4 Maximum Δ percentage

Fig.4 Maximum tension variation Δ for all six cables

Fig.5 Δ and Δ for fourth cable (a),(b) Class I, (c), (d) Class II

Fig.6 Fifth actuator torque and saturation problem

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