Active vibration control of a cable-driven parallel robot using active rods

Autor:	Lacaze Florian, Delpoux Romain, Remond Didier, Chesne Simon
Jazyk:	angličtina
Rok vydání:	2024
Předmět:	cable-driven parallel robot vibration control active rods integral force feedback piezoelectric transducers Materials of engineering and construction. Mechanics of materials TA401-492
Zdroj:	Mechanics & Industry, Vol 25, p 27 (2024)
Druh dokumentu:	article
ISSN:	2257-7777 2257-7750
DOI:	10.1051/meca/2024024
Popis:	This study deals with the integration of two active rods on a cable-driven parallel robot (CDPR) to control its vibrations. Three control laws derived from Integral Force Feedback (IFF) are proposed and compared analytically using a dynamic CDPR model: αβ-IFF, IFF with filters and IFF with positive proportional feedback (PIFF). A prototype was set up to test the performance of the active rods. A parametric study was then carried out on this prototype to choose the best control law and optimise its parameters. The use of only two active rods over eight driven cables allowed reducing the vibration levels over the six modes of the robot.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/953aa189fce64621b3800bae8a167946 Zobrazit plný text záznamu View record in DOAJ