A novel modified analytical method and finite element method for vibration analysis of cable-driven parallel robots
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DOI 10.1007/s12206-020-0809-9
Journal of Mechanical Science and Technology 34 (9) 2020 Original Article DOI 10.1007/s12206-020-0809-9 Keywords: · Cable-driven parallel robots · The cable element · The finite element method · The analytical method · Vibration analysis · Natural frequencies
Correspondence to: Kwan-Woong Gwak [email protected]
Citation: Nguyen-Van, S., Gwak, K.-W., Nguyen, D.-H., Lee, S.-G., Kang, B. H. (2020). A novel modified analytical method and finite element method for vibration analysis of cable-driven parallel robots. Journal of Mechanical Science and Technology 34 (9) (2020) ?~?. http://doi.org/10.1007/s12206-020-0809-9
Received February 25th, 2020 Revised
June 17th, 2020
Accepted July 3rd, 2020 † Recommended by Editor No-cheol Park
A novel modified analytical method and finite element method for vibration analysis of cable-driven parallel robots Sy Nguyen-Van1,2, Kwan-Woong Gwak1, Duc-Hai Nguyen1, Soon-Geul Lee3 and Byoung Hun Kang4 1
Department of Mechanical and Aerospace Engineering, Sejong University, 209 Neungdong-Ro, 2 Gwangjin-gu, Seoul 05006, Korea, Faculty of Mechanical Engineering, Thai Nguyen University of 3 Technology, Thai Nguyen, Vietnam, School of Mechanical Engineering, Kyung Hee University, 1732, 4 Deogyeong-daero, Giheung-gu, Yongin-si, Gyeonggi-do 17104, Korea, Department of Mechanical Design Engineering, Korea Polytechnic University, 2121, Jeongwang-dong, Siheung 429-793, Korea
Abstract
Cable-driven parallel robots (CDPRs) are vulnerable to vibration due to the inevitable flexible properties of the cables. Thus, vibration analysis is critical for CDPR’s operation in which highly accurate motion is required. However, most of the current methods related to vibration analysis of CDPRs rely on simple spring models which have limitations in their performance and complexity that are not general to analyze the vibration of various CDPRs. Hence, accurate, simple and general approaches for vibration analysis in CDPRs are need. To solve this problem, this paper presents the finite element method (FEM) and the modified analytical method to analyze the vibration of CDPRs. To validate these methods, free vibration analysis was conducted using the proposed methods for the planar and spatial cable-driven parallel robots. The natural frequencies of these two CDPRs were computed by the proposed two methods and compared with those of the commercial software, SAP2000. The solutions obtained by the FEM and the modified analytical models turned out to be close to SAP2000’s results, thereby verifying the validity of the proposed methods.
1. Introduction
© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2020
Recently, animal-inspired robots have attracted many researchers [1-5] and a cable-driven parallel robot (called CDPR) is one of them, like a spider with its spiderweb. The CDPR is also a typical type of parallel robot. In CDPR, rigid links are replaced with flexible cables. The endeffector is connected to the supporting fra
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