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Frontiers of Mechanical Engineering

Front Mech Eng    2013, Vol. 8 Issue (4) : 350-359     https://doi.org/10.1007/s11465-013-0271-9
RESEARCH ARTICLE |
Analytical dynamic solution of a flexible cable-suspended manipulator
Mahdi BAMDAD()
Mechatronics Research Laboratory, College of Mechanical Engineering, Shahrood University of Technology, Shahrood, Iran
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Abstract

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.

Keywords parallel robot      flexible cable      suspended robot      dynamic     
Corresponding Authors: BAMDAD Mahdi,Email:Bamdad@shahroodut.ac.ir   
Issue Date: 05 December 2013
 Cite this article:   
Mahdi BAMDAD. Analytical dynamic solution of a flexible cable-suspended manipulator[J]. Front Mech Eng, 2013, 8(4): 350-359.
 URL:  
http://journal.hep.com.cn/fme/EN/10.1007/s11465-013-0271-9
http://journal.hep.com.cn/fme/EN/Y2013/V8/I4/350
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Fig.1  General cable-suspended manipulator model
Weight/NIxx/(kg?m2)Iyy/(kg?m2)Izz/(kg?m2)
1470.580.581.16
Tab.1  Manipulator inertial parameter
ValueParameter
15E-2Winch radius r/m
2E-2Motor viscous damping coefficient c/(N?m?s)
1E-2Winch moment of inertia J/(kg?m2)
7.55Stall torque τs/(N?m)
3E+3Maximum no-load speed ωm/ RPM
4.5E-1Motor weight/kg
2.27E-1Rotor moment of inertia/(kg.cm2)
Tab.2  Actuator parameters
ClassDia. /inE /psiWeight /(lbf?ft-1)Material
I1/2130000000.38(6×7 with fiber core)
II1/45800000.03(Nylon Fiber)
Tab.3  Cable parameters
Fig.2  Specific trajectory: (a) End-effectorβposes and (b) velocities
Fig.3  Motor Computed Torque
WinchClass IClass II
10.102(64%)0.491(74%)
20.115(71%)0.565(86%)
30.134(83%)0.643(97%)
40.16(100%)0.66(100%)
50.12(75%)0.572(87%)
60.113(70%)0.552(84%)
Tab.4  Maximum Δ percentage
Fig.4  Maximum tension variation Δ for all six cables
Fig.5  Δ and Δ for fourth cable (a),(b) Class I, (c), (d) Class II
Fig.6  Fifth actuator torque and saturation problem
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