Abstract：In most of the researches available, the effects of cable vibration on the positioning precision of cable-driven parallel manipulators are not adequately taken in account. In this paper, a dynamic model for cable-driven parallel manipulators in slow motion is presented, in which the motion of each cable is decomposed into two components, namely stable motion and small vibration. The desired motion of the manipulator can be implemented by the stable motion of the cables, and the motion of a cable diverged from its stable position can be characterized by the small vibration. Controllers are devised for both motions. The controller for stable motion is devised to guarantee of the manipulator to move along desired trajectories while the one devised for small vibration is aimed at suppressing the vibration of the cables in motion, which is not expected. A numerical example is presented to validate the dynamic model and the control algorithm presented.
杜敬利;崔传贞;段清娟;保宏. 考虑柔索振动影响时索牵引并联机器人的动力学分析与控制[J]. , 2012, 31(24): 88-92.
DU Jingli; CUI Chuanzhen; DUAN Qingjuan; BAO Hong. Dynamic Analysis and Control of Cable-Driven Parallel Manipulators Considering Cable Vibration Effects. , 2012, 31(24): 88-92.
2012, Vol. 31 
