Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Dynamic analysis of high precision construction cable-driven parallel robots
In this paper we propose a modeling strategy for Cable Driven Parallel Robots (CDPRs) that - given their complexity - are typically addressed using simplified analysis, therefore neglecting relevant dynamics. Specifically, the finite element method is used for cables modeling, in order to account for their mass and stress-dependent stiffness. Geometrical effects given by platform motion in the 3D space have been included in our study, coupling cables finite element model and platform dynamic, also mimicking the wrapping of cords around winches. As a result, frequency and time domain responses under harmonic excitation are well captured and, in contrast with other works, the modal analysis revealed system vibrations characterized by local and global modes.
Dynamic analysis of high precision construction cable-driven parallel robots
In this paper we propose a modeling strategy for Cable Driven Parallel Robots (CDPRs) that - given their complexity - are typically addressed using simplified analysis, therefore neglecting relevant dynamics. Specifically, the finite element method is used for cables modeling, in order to account for their mass and stress-dependent stiffness. Geometrical effects given by platform motion in the 3D space have been included in our study, coupling cables finite element model and platform dynamic, also mimicking the wrapping of cords around winches. As a result, frequency and time domain responses under harmonic excitation are well captured and, in contrast with other works, the modal analysis revealed system vibrations characterized by local and global modes.
Dynamic analysis of high precision construction cable-driven parallel robots
Ferravante, Vittorio. (Autor:in) / Riva, Emanuele. (Autor:in) / Taghavi, Meysam. (Autor:in) / Braghin, Francesco . (Autor:in) / Bock, Thomas. (Autor:in)
01.02.2019
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Model selection and parameter optimization for cable-driven parallel robots
| TIBKAT | 2021
Model selection and parameter optimization for cable-driven parallel robots
| UB Braunschweig | 2021
Trajectory generation to suppress oscillations in under-constrained cable-driven parallel robots
| British Library Online Contents | 2016
Glass curtain wall construction system and method of flexible cable driven parallel robot
| Europäisches Patentamt | 2025