Abstract
In this paper, the static and dynamic performances of a cable-driven parallel robot (CDPR) are analyzed over all its entire workspace. The considered robot has 6 degrees of freedom and it is completely constrained with 8 cables. This paper aims at highlighting the effects of cable preloads on the robot’s behavior. To this end, the stiffness matrix of the robot is computed from a second order approximation of the deformation energy of preloaded cables. Lagrange formulation is used to obtain dynamic equations of the robot for vibration mode calculation and trajectory tracking simulations. Static and modal analyses show that, for a given preload, the increase in the robot’s stiffness and modal frequencies is relatively more significant using soft cables, made of nylon, rather than stiff cables made of steel. These results are confirmed by dynamic simulations illustrating the effects of preloaded cables on the accuracy of trajectory tracking performance.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Gosselin, C.: Cable-driven parallel mechanisms: state of the art and perspectives. Mech. Eng. Rev. 1, DSM0004-DSM0004 (2014).
Gagliardini, L., Caro, S., Gouttefarde, M., Wenger, P., Girin, A.: A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures. In: Pott, A. and Bruckmann, T. (eds.) Cable-Driven Parallel Robots. pp. 275–291. Springer International Publishing, Cham (2015).
Pott, A., Mütherich, H., Kraus, W., Schmidt, V., Miermeister, P., Verl, A.: IPAnema: A family of Cable-Driven Parallel Robots for Industrial Applications. In: Bruckmann, T. and Pott, A. (eds.) Cable-Driven Parallel Robots. pp. 119–134. Springer Berlin Heidelberg, Berlin, Heidelberg (2013).
Landsberger, S., Sheridan, T.: Parallel Link Manipulators, (1987).
Diao, X., Ma, O.: Vibration analysis of cable-driven parallel manipulators. Multibody Syst. Dyn. 21, 347–360 (2009).
Tourajizadeh, H.: Longitudinal and Lateral Vibration Analysis of Cables in a Cable Robot using Finite Element Method. 10, (2017).
Yuan, H., Courteille, E., Deblaise, D.: Static and dynamic stiffness analyses of cable-driven parallel robots with non-negligible cable mass and elasticity. Mech. Mach. Theory. 85, 64–81 (2015).
Yuan, H., Courteille, E., Gouttefarde, M., Hervé, P.E.: Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method. J. Sound Vib. 394, 527–544 (2017).
Weber, X., Cuvillon, L., Gangloff, J.: Active vibration canceling of a cable-driven parallel robot using reaction wheels. 2014 IEEE/RSJ Int. Conf. Intell. Robot. Syst. 1724–1729 (2014).
Rushton, M., Khajepour, A.: Transverse vibration control in planar cable-driven robotic manipulators. Mech. Mach. Sci. 53, 243–253 (2018).
Pott, A., Bruckmann, T., Mikelsons, L.: Closed-form Force Distribution for Parallel Wire Robots. In: Computational Kinematics. pp. 25–34 (2009).
Acknowledgements
This paper is part of the CABFAB project funded by the Auvergne-Rhône-Alpes Region as part of the 2017 Ambition Pack Research program.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Gueners, D., Chedli Bouzgarrou, B., Chanal, H. (2019). Static and dynamic analysis of a 6 DoF totally constrained cable robot with 8 preloaded cables. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74. Springer, Cham. https://doi.org/10.1007/978-3-030-20751-9_26
Download citation
DOI: https://doi.org/10.1007/978-3-030-20751-9_26
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20750-2
Online ISBN: 978-3-030-20751-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)