Three-dimensional static and dynamic stiffness analyses of the cable driven parallel robot with non-negligible cable mass and elasticity

被引：19

作者：

Amare, Zemichael ^{[1
]}

Zi, Bin ^{[1
,2
]}

Qian, Sen ^{[1
]}

Du, Jingli ^{[2
]}

Ge, Q. J. ^{[3
]}

机构：

[1] Hefei Univ Technol, Sch Mech Engn, Hefei 230009, Anhui, Peoples R China

[2] Xidian Univ, Minist Educ, Key Lab Elect Equipment Struct Design, Xian, Shanxi, Peoples R China

[3] SUNY Stony Brook, Dept Mech Engn, Stony Brook, NY 11794 USA

来源：

MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES | 2018年 / 46卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Cable driven parallel robot; optimization; static and dynamic stiffness; three-dimensional inclined cable; STAYED BRIDGES; ACTIVE CONTROL; OPTIMIZATION; MATRIX; DESIGN;

D O I：

10.1080/15397734.2017.1358094

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

This study investigates the three-dimensional static and dynamic stiffness analyses of the cable driven parallel robot by considering cable mass, elasticity, and mass of end-effector. According to these models, optimization of cable tensions and cable lengths using fminimax solver is performed to determine the static stiffness. Static and dynamic stiffness of the cables are obtained with simulations. Results show that analyses in three-dimension are very important to measure the actual performance of the cable driven parallel robot. This demonstrates potential for general applicability and motion of the cable driven parallel robot.

引用

页码：455 / 482

页数：28

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