| CABLE-DRIVEN ROBOTS |
|
|
|
|
|
Vibration suppression in flexible parallel cable structures |
| TANG Lewei, SHI Pengshuai |
| College of Mechanical & Vehicle Engineering, Hunan University, Changsha 410082, China |
|
|
|
|
Abstract Large trusses are widely used in the navigation and aerospace fields due to their lightweight structures, high payload-weight ratios and low costs. Since trusses with large length-diameter ratios are flexible, they have vibrations due to external excitations that impact the entire system performance. A parallel cable configuration acting as an Euler-Bernoulli beam for simplified trusses was used in this study to suppress vibrations in the truss. The control method, which is a function of the cable length, was modeled in MATLAB/Simulink. Parallel cables have active and passive dynamic modes. The results show that the vibrations far from the cable attachment points are effectively reduced by the cable configuration. The cable tension suppresses the short period deformation in the passive cable mode without tension control, while the active mode with tension control suppresses the vibrations over relatively long suppression periods.
|
| Keywords
flexible structure
cable
vibration suppression control
tension
|
|
Issue Date: 06 March 2021
|
|
|
[1] 崔宏林, 李辉. 小型双体船桁架式连接桥结构强度评估及优化[J]. 舰船科学技术, 2019, 41(12):16-19. CUI H L, LI H. Strength assessment and optimization of trussed cross structure for a small catamaran[J]. Ship Science and Technology, 2019, 41(12):16-19. (in Chinese)
[2] 孙海宁, 唐晓强, 王晓宇, 等. 基于索驱动的大型柔性结构振动抑制策略研究[J]. 机械工程学报, 2019, 55(11):53-60. SUN H L, TANG X Q, WANG X Y, et al. Vibration suppression of large flexible structure based on cable-driven parallel robots[J]. Journal of Mechanical Engineering, 2019, 55(11):53-60. (in Chinese)
[3] VAKIL M, FOTOUHI R, NIKIFORUK P N, et al. A study of the free vibration of flexible-link flexible-joint manipulators[J]. Proceedings of the Institution of Mechanical Engineers, Part C:Journal of Mechanical Engineering Science, 2011, 225(6):1361-1371.
[4] DWIVEDY S K, EBERHARD P. Dynamic analysis of flexible manipulators:A literature review[J]. Mechanism and Machine Theory, 2006, 41(7):749-777.
[5] WEI J, CAO D Q, LIU L, et al. Global mode method for dynamic modeling of a flexible-link flexible-joint manipulator with tip mass[J]. Applied Mathematical Modelling, 2017, 48:787-805.
[6] OGUAMANAM D, BOSNJAK S, ZRNIC N. On the dynamic modelling of flexible manipulators[J]. FME Transactions, 2006, 34:231-237.
[7] DIXIT R, KUMAR R P. Cable stiffened flexible link manipulator[C]//2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. Chicago, USA:IEEE, 2013:871-876.
[8] TANG X Q. An overview of the development for cable-driven parallel manipulator[J]. Advances in Mechanical Engineering, 2014, 6:823028.
[9] YAO R, ZHU W B, SUN C H, et al. Pose planning for the feed support system of FAST[J]. Advances in Mechanical Engineering, 2014, 2014:209167.
[10] KHOSRAVI M A, TAGHIRAD H D. Robust PID control of fully-constrained cable-driven parallel robots[J]. Mechatronics, 2014, 24(2):87-97.
[11] BABAGHASABHA R, KHOSRAVI M A, TAGHIRAD H D. Adaptive robust control of fully-constrained cable driven parallel robots[J]. Mechatronics, 2015, 25:27-36.
[12] MEZIANE R, CARDOU P, OTIS M J D. Cable interference control in physical interaction for cable-driven parallel mechanisms[J]. Mechanism and Machine Theory, 2019, 132:30-47.
[13] 曹凌, 唐晓强, 王伟方. 基于定矢量力输出的八索并联机构索力优化及实验研究[J]. 机器人, 2015, 37(6):641-647. CAO L, TANG X Q, WANG W F. Tension optimization and experimental research of parallel mechanism driven by 8 cables for constant vector force output[J]. Robot, 2015, 37(6):641-647. (in Chinese)
[14] YANG G B, DONATH M. Dynamic model of a one-link robot manipulator with both structural and joint flexibility[C]//Proceedings. 1988 IEEE International Conference on Robotics and Automation. Philadelphia, USA:IEEE, 1988:476-481.
[15] RAKHSHA F, GOLDENBERG A. Dynamics modelling of a single-link flexible robot[C]//Proceedings. 1985 IEEE International conference on Robotics and Automation. St. Louis, USA:IEEE, 1985:984-989.
[16] TANG L W, SHI P S, WU L, et al. Singularity analysis on a special class of cable-suspended parallel mechanisms with pairwise cable arrangement and actuation redundancy[J]. Journal of Mechanical Design, 2020, 142(2):024501.
[17] ZHANG Z K, SHAO Z F, WANG L P. Optimization and implementation of a high-speed 3-DOFs translational cable-driven parallel robot[J]. Mechanism and Machine Theory, 2020, 145:103693. |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
| |
Shared |
|
|
|
|
| |
Discussed |
|
|
|
|
2021,
Vol. 61
