Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method

Huan Yuan (1, 2) , Eric Courteille (1) , Marc Gouttefarde (3) , Pierre-Elie Hervé (4)

1 LGCGM - Laboratoire de Génie Civil et Génie Mécanique
2 HIT - Harbin Institute of Technology
3 DEXTER - Robotique médicale et mécanismes parallèles
4 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier

This paper focuses on the vibration analysis of Cable-Driven Parallel Robots (CDPRs). An oscillating model of CDPRs able to capture the dynamic behavior of the cables is derived using Lagrangian approach in conjunction with the Dynamic Stiffness Matrix method. Then, an original approach to analyze the modal interaction between the local cable modes and the global CDPR modes is presented. To illustrate this approach, numerical investigations and experimental analyses are carried out on a large-dimension 6-DOF suspended CDPR driven by 8 cables.

Mots clés: Dynamic stiffness matrix; Vibration analysis; Cable model; Modal interactions; Harmonic resonance; La-grangian approaches; Cables; Lagrange multipliers; Robots; Stiffness; Experimental analysis; Numerical investigations; Parallel robots; Stiffness matrix

Domaines: Vibrations [physics.class-ph]; Automatique / Robotique

Huan Yuan, Eric Courteille, Marc Gouttefarde, Pierre-Elie Hervé. Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method. Journal of Sound and Vibration, 2017, 394, pp.527-544. ⟨10.1016/j.jsv.2017.02.003⟩. ⟨hal-01484736⟩