@inproceedings{17f1e6e2a1554fd9ba2923805e0a73f9,
title = "Modelling of flexible cable-driven parallel robots using a Rayleigh-Ritz approach",
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.",
author = "Godbole, {Harsh Atul} and Caverly, {Ryan James} and Forbes, {James Richard}",
year = "2018",
month = jan,
day = "1",
doi = "10.1007/978-3-319-61431-1_1",
language = "English (US)",
isbn = "9783319614304",
series = "Mechanisms and Machine Science",
publisher = "Springer Netherlands",
pages = "3--14",
editor = "Tobias Bruckmann and Clement Gosselin and Philippe Cardou and Andreas Pott",
booktitle = "Cable-Driven Parallel Robots - Proceedings of the 3rd International Conference on Cable-Driven Parallel Robots",
note = "3rd International Conference on Cable-Driven Parallel Robots, CableCon 2017 ; Conference date: 02-08-2017 Through 04-08-2017",
}