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Dynamic modeling and characterization of compliant cable-driven parallel robots containing flexible cables

Published online by Cambridge University Press:  28 July 2023

Miaojiao Peng Open the ORCID record for Miaojiao Peng [Opens in a new window] ,
Longhai Xiao ,
Qinglin Chen ,
Guowu Wei Open the ORCID record for Guowu Wei [Opens in a new window] ,
Qi Lin  and
Jiayong Zhuo
Miaojiao Peng
Affiliation:
School of Marine Engineering, Jimei University, Xiamen, China The Key Laboratory of Ship and Marine Engineering of Fujian Province, Xiamen, China
Longhai Xiao
Affiliation:
School of Marine Engineering, Jimei University, Xiamen, China The Key Laboratory of Ship and Marine Engineering of Fujian Province, Xiamen, China
Qinglin Chen*
Affiliation:
School of Marine Engineering, Jimei University, Xiamen, China The Key Laboratory of Ship and Marine Engineering of Fujian Province, Xiamen, China
Guowu Wei
Affiliation:
School of Computing, Science & Engineering, University of Salford, Salford, UK
Qi Lin
Affiliation:
School of Aerospace Engineering, Xiamen University, Xiamen, China
Jiayong Zhuo
Affiliation:
School of Marine Engineering, Jimei University, Xiamen, China The Key Laboratory of Ship and Marine Engineering of Fujian Province, Xiamen, China
*
Corresponding author: Qinglin Chen; Email: cql@jmu.edu.cn
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Abstract

Flexible cables in cable-driven parallel robots (CDPRs) are easy to be excited and vibrate. Cable vibration will react on the end-effector, causing attitude deviation of the end-effector. The main objective of this study is to accurately model axially moving flexible cables and characterize the dynamic behaviors of associated compliant CDPRs. Firstly, a model for transverse vibration of the axially moving length-variable cable is developed. On this basis, an original nonlinear dynamic model of the CDPRs able to capture the vibration of the cables and the dynamics of the end-effector is proposed. Secondly, the frequency–amplitude relationship of the CDPR is obtained. Moreover, the significance of the excitation effect caused by the axially moving length-variable cables is demonstrated, by comparing the results with and without excitation effect at different frequencies. It turns out that, as the oscillation frequency of the end-effector increases, the end-effector and cables exhibit the dynamics process from steady state to unstable large-amplitude vibration and finally to stable small-amplitude vibration. This indicates that the dynamics of the CDPR exhibit non-linear characteristics, due to the influence of flexible cables. Finally, the proposed dynamic model of compliant CDPRs is validated by experiments performed in the laboratory.

Keywords

cable-driven parallel robotcable vibrationnonlinear dynamicsparallel manipulatorscompliant robots
Type
Research Article
Information
Robotica , Volume 41 , Issue 10 , October 2023 , pp. 3160 - 3174
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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