Oscillation Reduction and Frequency Analysis of Under-Constrained Cable-Driven Parallel Robot with Three Cables
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Hwang, Sung Wook | - |
dc.contributor.author | Bak, Jeong-Hyeon | - |
dc.contributor.author | Yoon, Jonghyun | - |
dc.contributor.author | Park, Jong Hyeon | - |
dc.date.accessioned | 2021-08-02T09:51:30Z | - |
dc.date.available | 2021-08-02T09:51:30Z | - |
dc.date.created | 2021-05-12 | - |
dc.date.issued | 2020-03 | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/10586 | - |
dc.description.abstract | Cable-driven parallel robots (CDPRs) possess a lot of advantages over conventional parallel manipulators and link-based robot manipulators in terms of acceleration due to their low inertia. This paper deals with under-constrained CDPRs, which manipulate the end-effector to carrying the payload by using a number of cables less than six, often used preferably owing to their simple structures. Since a smaller number of cables than six are used, the end-effector of CDPR has uncontrollable degrees of freedom and that causes swaying motion and oscillations. In this paper, a scheme to curb on the unwanted oscillation of the end-effector of the CDPR with three cables is proposed based on multimode input shaping. The precise dynamic model of the under-constrained CDPR is obtained to find natural frequencies, which depends on the position of the end-effector. The advantage of the proposed method is that it is practicable to generate the trajectories for vibration suppression based on multi-mode input-shaping scheme in spite of the complexity in the dynamics and the difficulty in computing the natural frequencies of the CDPR, which are required in any input-shaping scheme. To prove the effectiveness of the proposed method, computer simulations and experiments were carried out by using 3-D motion for CDPR with three cables. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | CAMBRIDGE UNIV PRESS | - |
dc.title | Oscillation Reduction and Frequency Analysis of Under-Constrained Cable-Driven Parallel Robot with Three Cables | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
dc.identifier.doi | 10.1017/S0263574719000687 | - |
dc.identifier.scopusid | 2-s2.0-85066963040 | - |
dc.identifier.wosid | 000512402600001 | - |
dc.identifier.bibliographicCitation | ROBOTICA, v.38, no.3, pp.375 - 395 | - |
dc.relation.isPartOf | ROBOTICA | - |
dc.citation.title | ROBOTICA | - |
dc.citation.volume | 38 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 375 | - |
dc.citation.endPage | 395 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | TRAJECTORY GENERATION | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | DYNAMICS | - |
dc.subject.keywordAuthor | Under-constrained cable-driven parallel robot | - |
dc.subject.keywordAuthor | Input shaping | - |
dc.subject.keywordAuthor | Vibration | - |
dc.subject.keywordAuthor | Natural frequency | - |
dc.subject.keywordAuthor | Trajectory generation | - |
dc.identifier.url | https://www.cambridge.org/core/journals/robotica/article/oscillation-reduction-and-frequency-analysis-of-underconstrained-cabledriven-parallel-robot-with-three-cables/230D1901AFB6A5E2B9B6CA12FF65B0BA | - |
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