Modeling and analysis of cable vibrations for a cable-driven parallel robot

Christian Schenk, Carlo Masone, Philipp Miermeister, Heinrich Bulthoff

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this paper we study if approximated linear models are accurate enough to predict the vibrations of a cable of a Cable-Driven Parallel Robot (CDPR) for different pretension levels. In two experiments we investigated the damping of a thick steel cable from the Cablerobot simulator [1] and measured the motion of the cable when a sinusoidal force is applied at one end of the cable. Using this setup and power spectral density analysis we measured the natural frequencies of the cable and compared these results to the frequencies predicted by two linear models: i) the linearization of partial differential equations of motion for a distributed cable, and ii) the discretization of the cable using a finite elements model. This comparison provides remarkable insights into the limits of approximated linear models as well as important properties of vibrating cables used in CDPR.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages454-461
Number of pages8
ISBN (Electronic)9781509041022
DOIs
Publication statusPublished - 2017 Jan 24
Event2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016 - Ningbo, China
Duration: 2016 Aug 12016 Aug 3

Other

Other2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
CountryChina
CityNingbo
Period16/8/116/8/3

Fingerprint

Cables
Robots
Power spectral density
Linearization
Partial differential equations
Equations of motion
Natural frequencies
Damping
Simulators
Steel

Keywords

  • Dynamic stiffness matrix
  • Finite element model
  • Linear theory
  • Vibration analysis

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Information Systems
  • Computational Mechanics

Cite this

Schenk, C., Masone, C., Miermeister, P., & Bulthoff, H. (2017). Modeling and analysis of cable vibrations for a cable-driven parallel robot. In 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016 (pp. 454-461). [7831867] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICInfA.2016.7831867

Modeling and analysis of cable vibrations for a cable-driven parallel robot. / Schenk, Christian; Masone, Carlo; Miermeister, Philipp; Bulthoff, Heinrich.

2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 454-461 7831867.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Schenk, C, Masone, C, Miermeister, P & Bulthoff, H 2017, Modeling and analysis of cable vibrations for a cable-driven parallel robot. in 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016., 7831867, Institute of Electrical and Electronics Engineers Inc., pp. 454-461, 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016, Ningbo, China, 16/8/1. https://doi.org/10.1109/ICInfA.2016.7831867
Schenk C, Masone C, Miermeister P, Bulthoff H. Modeling and analysis of cable vibrations for a cable-driven parallel robot. In 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016. Institute of Electrical and Electronics Engineers Inc. 2017. p. 454-461. 7831867 https://doi.org/10.1109/ICInfA.2016.7831867
Schenk, Christian ; Masone, Carlo ; Miermeister, Philipp ; Bulthoff, Heinrich. / Modeling and analysis of cable vibrations for a cable-driven parallel robot. 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 454-461
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