Cable behavior influence on Cable-Driven Parallel Robots vibrations: experimental characterization and simulation
| Autor: | Belhassen-Chedli Bouzgarrou, Damien Gueners, Hélène Chanal |
|---|---|
| Přispěvatelé: | SIGMA Clermont (SIGMA Clermont), Institut Pascal (IP), Centre National de la Recherche Scientifique (CNRS)-Université Clermont Auvergne (UCA)-Institut national polytechnique Clermont Auvergne (INP Clermont Auvergne), Université Clermont Auvergne (UCA)-Université Clermont Auvergne (UCA) |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Computer science
business.industry Mechanical Engineering Parallel manipulator Stiffness Rigidity (psychology) 02 engineering and technology Structural engineering dynamics 021001 nanoscience & nanotechnology [SPI.AUTO]Engineering Sciences [physics]/Automatic Vibration Parallel Platforms Hysteresis 020303 mechanical engineering & transports Cable Driven Mechanisms 0203 mechanical engineering Creep medicine Range (statistics) Robot medicine.symptom 0210 nano-technology business |
| Zdroj: | Journal of Mechanisms and Robotics Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2021, pp.1-54. ⟨10.1115/1.4049978⟩ Journal of Mechanisms and Robotics, 2021, pp.1-54. ⟨10.1115/1.4049978⟩ |
| ISSN: | 1942-4302 1942-4310 |
| Popis: | In this paper, the influence of cable behavior on cable-driven parallel robot (CDPR) is studied. This study is conducted with the goal of designing a medium size CDPR for additive manufacturing. This robot needs to have a high level of rigidity to guarantee a given tracking tool path error. First, the characterization of different thin cables (steel, Dyneema®, aramid) is presented. The mechanical properties of these cables, in terms of stiffness, damping, hysteresis, and creep are compared with regard to additive manufacturing applications. A stiffness model, which takes into account the cable preload, and a dynamic model of CDPR are proposed. The simulations of these two models are compared with experimental results obtained for the range of cables studied using dynamic stiffness analysis on an 8-cable fully constrained CDPR. This paper concludes on the type of cable that should be chosen for our application. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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