Dynamic modeling and characterization of compliant cable-driven parallel robots containing flexible cables

作者：Miaojiao Peng, Longhai Xiao, Qinglin Chen, Guowu Wei, Qi Lin, Jiayong Zhuo · 发表于：Robotica · 年份：2023 · DOI：10.1017/s0263574723000930 · 被引用次数：7 · 研究领域：Vibration and Dynamic Analysis、Soft Robotics and Applications、Dynamics and Control of Mechanical Systems

Abstract Flexible cables in cable-driven parallel robots (CDPRs) are easy to be excited and vibrate. Cable vibration will react on the end-effector, causing attitude deviation of the end-effector. The main objective of this study is to accurately model axially moving flexible cables and characterize the dynamic behaviors of associated compliant CDPRs. Firstly, a model for transverse vibration of the axially moving length-variable cable is developed. On this basis, an original nonlinear dynamic model of the CDPRs able to capture the vibration of the cables and the dynamics of the end-effector is proposed. Secondly, the frequency–amplitude relationship of the CDPR is obtained. Moreover, the significance of the excitation effect caused by the axially moving length-variable cables is demonstrated, by comparing the results with and without excitation effect at different frequencies. It turns out that, as the oscillation frequency of the end-effector increases, the end-effector and cables exhibit the dynamics process from steady state to unstable large-amplitude vibration and finally to stable small-amplitude vibration. This indicates that the dynamics of the CDPR exhibit non-linear characteristics, due to the influence of flexible cables. Finally, the proposed dynamic model of compliant CDPRs is validated by experiments performed in the laboratory.