Modelling of flexible cable-driven parallel robots using a Rayleigh-Ritz approach

Harsh Atul Godbole, Ryan James Caverly, James Richard Forbes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

This paper investigates the use of the Rayleigh-Ritz method to model single degree-of-freedom flexible cable-driven parallel robots (CDPRs) using a set of time-dependent basis functions to discretize cables of varying length. An energy-based model simplification is proposed to further facilitate reduction in the computational load when performing numerical simulations involving the proposed model. Open-loop system responses are used to compare the effect of the energy-based model simplification. Frequency responses are used to compare the influence of the number of basis functions used and to provide a comparison to a lumped-mass model.

Original languageEnglish (US)
Title of host publicationCable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots
EditorsTobias Bruckmann, Clement Gosselin, Philippe Cardou, Andreas Pott
PublisherSpringer Netherlands
Pages3-14
Number of pages12
ISBN (Print)9783319614304
DOIs
StatePublished - Jan 1 2018
Externally publishedYes
Event3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017 - Quebec City, Canada
Duration: Aug 2 2017Aug 4 2017

Publication series

NameMechanisms and Machine Science
Volume53
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Other

Other3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017
CountryCanada
CityQuebec City
Period8/2/178/4/17

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