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Multiaxis Reaction System (MARS) for Vibration Control of Planar Cable-Driven Parallel Robots | IEEE Journals & Magazine | IEEE Xplore

Multiaxis Reaction System (MARS) for Vibration Control of Planar Cable-Driven Parallel Robots


Abstract:

This paper provides a solution for the problem of uncontrollable modes in planar cable-driven parallel robots. The proposed solution requires the addition of two unbalanc...Show More

Abstract:

This paper provides a solution for the problem of uncontrollable modes in planar cable-driven parallel robots. The proposed solution requires the addition of two unbalanced-rotational-inertia actuators to the end-effector. It is demonstrated both analytically and experimentally that by adding two reaction-based unbalanced-rotational-inertia actuators, the end-effector vibrations can be effectively regulated in the three nonplanar directions that are uncontrollable by the in-plane cables. It is shown that the proposed method is simple, effective, and readily applicable to any planar cable-driven parallel robot.
Published in: IEEE Transactions on Robotics ( Volume: 35, Issue: 4, August 2019)
Page(s): 1039 - 1046
Date of Publication: 16 April 2019

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