Dynamics Analysis Of Cable-driven Parallel Robots With Cable Elastic Vibration

Cable-driven parallel robot has found an increasingly utilization in many fieldsbecause of its high-loading capacity, compactness and large workspace. Low frequencyvibration always occurs when the robot is performing a large motion, which makes theend effector difficult to be accurately located, reducing motion performancesignificantly. In this thesis, the issues of elastic vibration of the cable in large motionsof cable-driven parallel robot are analyzed, kinematics analysis and dynamic modelingof cable-driven parallel robot are made, and kinetic simulation and analysis to thecreated model are taken with virtual technology.In this thesis, the geometry model of cable-driven parallel robot used in a cameraplatform is presented, and the kinematics of three degree-of-freedom freedomcable-driven parallel robot is analyzed. In the second part, cable is simulated byspring-mass model; based on its actual parameters, the virtual simulation model ofideal cable-driven parallel robot is established by ADAMS. Finally, the influence ofelastic vibration of the model in classic trajectories and different dampers to the motionof end effector is simulated and analyzed.