Modeling and analysis of cable vibrations for a cable-driven parallel robot

Christian Schenk; Carlo Masone; Philipp Miermeister; Heinrich H. Bülthoff

doi:10.1109/ICInfA.2016.7831867

Modeling and analysis of cable vibrations for a cable-driven parallel robot

Christian Schenk, Carlo Masone, Philipp Miermeister, Heinrich H. Bülthoff

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	454-461
Number of pages	8
ISBN (Electronic)	9781509041022
DOIs	https://doi.org/10.1109/ICInfA.2016.7831867
Publication status	Published - 2017 Jan 24
Event	2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016 - Ningbo, China Duration: 2016 Aug 1 → 2016 Aug 3

Publication series

Name	2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016

Other

Other	2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
Country/Territory	China
City	Ningbo
Period	16/8/1 → 16/8/3

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

Dynamic stiffness matrix
Finite element model
Linear theory
Vibration analysis

ASJC Scopus subject areas

Computer Networks and Communications
Information Systems
Computational Mechanics

Access to Document

10.1109/ICInfA.2016.7831867

Cite this

Schenk, C., Masone, C., Miermeister, P., & Bülthoff, H. H. (2017). Modeling and analysis of cable vibrations for a cable-driven parallel robot. In 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016 (pp. 454-461). Article 7831867 (2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICInfA.2016.7831867

Modeling and analysis of cable vibrations for a cable-driven parallel robot. / Schenk, Christian; Masone, Carlo; Miermeister, Philipp et al.
2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 454-461 7831867 (2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Schenk, C, Masone, C, Miermeister, P & Bülthoff, HH 2017, Modeling and analysis of cable vibrations for a cable-driven parallel robot. in 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016., 7831867, 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016, Institute of Electrical and Electronics Engineers Inc., pp. 454-461, 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016, Ningbo, China, 16/8/1. https://doi.org/10.1109/ICInfA.2016.7831867

Schenk C, Masone C, Miermeister P, Bülthoff HH. Modeling and analysis of cable vibrations for a cable-driven parallel robot. In 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016. Institute of Electrical and Electronics Engineers Inc. 2017. p. 454-461. 7831867. (2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016). doi: 10.1109/ICInfA.2016.7831867

Schenk, Christian ; Masone, Carlo ; Miermeister, Philipp et al. / Modeling and analysis of cable vibrations for a cable-driven parallel robot. 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 454-461 (2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016).

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abstract = "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.",

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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.

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Modeling and analysis of cable vibrations for a cable-driven parallel robot

Abstract

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Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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