Vibration reduction of flexible rope-driven mobile robot for safe faade operation
- Authors
- Seo, Myoungjae; Yoo, Sungkeun; Choi, Myeongjin; Oh, Joohyun; Kim, Hwa Soo; Seo, Taewon
- Issue Date
- Aug-2021
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- Cable-driven parallel Robots; Input shaping; Mechanism design; Modal decomposition; Rope modeling
- Citation
- IEEE/ASME Transactions on Mechatronics, v.26, no.4, pp.1812 - 1819
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE/ASME Transactions on Mechatronics
- Volume
- 26
- Number
- 4
- Start Page
- 1812
- End Page
- 1819
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/141432
- DOI
- 10.1109/TMECH.2021.3068622
- ISSN
- 1083-4435
- Abstract
- In recent years, cable-driven-parallel robots (CDPRs) have been studied for faade operations. There are various types of CDPRs; however, under-constrained CDPRs are capable of wider operating in faade workspaces than over-constrained CDPRs. Therefore, in this study, a dual ascender robot (DAR) was used for faade operations. Herein, two suggestions for safe faade operations are presented. First, a flexible nylon fiber rope was modeled such that the vibration direction, natural frequency, and damping ratio of the DAR could be converted through a Jacobian matrix and modal decomposition from the rope model. Second, input shaping control was applied to reduce vibrations, based on the vibration model of a DAR using the rope model. Modal decomposition was verified using a verification experiment, and the effect of input shaping was evaluated by comparing the w/ input shaping and w/o input shaping experiments. w/ input shaping case was shown about 48% reducing robot vibration and about 35% shortening settling time compare with w/o input shaping case.
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