Analytical dynamic solution of a flexible cable-suspended manipulator

Cable-suspended manipulators are used in large scale applications with, heavy in weight and long in span cables. It seems impractical to maintain cable assumptions of smaller robots for large scale manipulators. The interactions among the cables, platforms and actuators can fully evaluate the couple...

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Bibliographic Details
Published inFrontiers of Mechanical Engineering Vol. 8; no. 4; pp. 350 - 359
Main Author BAMDAD, Mahdi
Format Journal Article
LanguageEnglish
Published Berlin/Heidelberg Higher Education Press 01.12.2013
Springer Berlin Heidelberg
Subjects
Actuators
Cables
dynamic
Dynamic tests
Engineering
Exact solutions
flexible cable
Manipulators
Mathematical analysis
Mechanical Engineering
parallel robot
Research Article
Robot arms
Robots
suspended robot
parallel robot
flexible cable
dynamic
suspended robot
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ISSN2095-0233
2095-0241
DOI10.1007/s11465-013-0271-9

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Summary:Cable-suspended manipulators are used in large scale applications with, heavy in weight and long in span cables. It seems impractical to maintain cable assumptions of smaller robots for large scale manipulators. The interactions among the cables, platforms and actuators can fully evaluate the coupled dynamic analysis. The structural flexibility of the cables becomes more pronounced in large manipulators. In this paper, an analytic solution is provided to solve cable vibration. Also, a closed form solution can be adopted to improve the dynamic response to flexibility. The output is provided by the optimal torque generation subject to the actuator limitations in a mechatronic sense. Finally, the performance of the proposed algorithm is examined through simulations.
Bibliography:parallel robot
flexible cable
Document received on :2013-04-26
dynamic
Document accepted on :2013-05-26
suspended robot
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SourceType-Scholarly Journals-1
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content type line 23
ISSN:2095-0233
2095-0241
DOI:10.1007/s11465-013-0271-9