TY - GEN
T1 - Modeling and analysis of cable vibrations for a cable-driven parallel robot
AU - Schenk, Christian
AU - Masone, Carlo
AU - Miermeister, Philipp
AU - Bülthoff, Heinrich H.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/24
Y1 - 2017/1/24
N2 - In this paper we study if approximated linear models are accurate enough to predict the vibrations of a cable of a Cable-Driven Parallel Robot (CDPR) for different pretension levels. In two experiments we investigated the damping of a thick steel cable from the Cablerobot simulator [1] and measured the motion of the cable when a sinusoidal force is applied at one end of the cable. Using this setup and power spectral density analysis we measured the natural frequencies of the cable and compared these results to the frequencies predicted by two linear models: i) the linearization of partial differential equations of motion for a distributed cable, and ii) the discretization of the cable using a finite elements model. This comparison provides remarkable insights into the limits of approximated linear models as well as important properties of vibrating cables used in CDPR.
AB - In this paper we study if approximated linear models are accurate enough to predict the vibrations of a cable of a Cable-Driven Parallel Robot (CDPR) for different pretension levels. In two experiments we investigated the damping of a thick steel cable from the Cablerobot simulator [1] and measured the motion of the cable when a sinusoidal force is applied at one end of the cable. Using this setup and power spectral density analysis we measured the natural frequencies of the cable and compared these results to the frequencies predicted by two linear models: i) the linearization of partial differential equations of motion for a distributed cable, and ii) the discretization of the cable using a finite elements model. This comparison provides remarkable insights into the limits of approximated linear models as well as important properties of vibrating cables used in CDPR.
KW - Dynamic stiffness matrix
KW - Finite element model
KW - Linear theory
KW - Vibration analysis
UR - http://www.scopus.com/inward/record.url?scp=85006404456&partnerID=8YFLogxK
U2 - 10.1109/ICInfA.2016.7831867
DO - 10.1109/ICInfA.2016.7831867
M3 - Conference contribution
AN - SCOPUS:85006404456
T3 - 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
SP - 454
EP - 461
BT - 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
Y2 - 1 August 2016 through 3 August 2016
ER -