Dynamic Modeling and Residual Vibration Suppression of the Redundantly-Actuated Cable Driving Parallel Manipulator
An improved input shaping (IS) scheme was proposed for the redundantly actuated cable driving parallel robots (CDPRs) to suppress the residual vibration (RV). To make the design of the RV suppression convenient, the flexible displacements of the moving platform were taken as the generalized coordina...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9099862/ |
| _version_ | 1818853322411474944 |
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| author | Zhengsheng Chen Xuesong Wang |
| author_facet | Zhengsheng Chen Xuesong Wang |
| author_sort | Zhengsheng Chen |
| collection | DOAJ |
| description | An improved input shaping (IS) scheme was proposed for the redundantly actuated cable driving parallel robots (CDPRs) to suppress the residual vibration (RV). To make the design of the RV suppression convenient, the flexible displacements of the moving platform were taken as the generalized coordinates considering the axial deformation of cables, and rigid-flexible dynamic model of generalized redundantly actuated CDPRs was established with the Newton-Euler equation and the Newton's law. Then to cope with time-variant vibration frequencies of the CDPRs due to the variable lengths of cables, the technique that combined the one- to three-order zero vibration (ZV) IS with the particle swarm optimization (PSO) and the controller was proposed to suppress the RV. At last, to validate the effectiveness the proposed method, the simulations were carried out in a redundantly actuated CDPR that has six degree-of-freedom CDPR and seven driving cables with the proposed method, the results show that the RVs can be reduced significantly. |
| first_indexed | 2024-12-19T07:34:58Z |
| format | Article |
| id | doaj.art-d069e5c34e784803a1989f3aa7b13cd8 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T07:34:58Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-d069e5c34e784803a1989f3aa7b13cd82022-12-21T20:30:36ZengIEEEIEEE Access2169-35362020-01-018994229943010.1109/ACCESS.2020.29977669099862Dynamic Modeling and Residual Vibration Suppression of the Redundantly-Actuated Cable Driving Parallel ManipulatorZhengsheng Chen0Xuesong Wang1https://orcid.org/0000-0002-5327-1088Engineering Research Center of Intelligent Control for Underground Space, China University of Mining and Technology, Xuzhou, ChinaEngineering Research Center of Intelligent Control for Underground Space, China University of Mining and Technology, Xuzhou, ChinaAn improved input shaping (IS) scheme was proposed for the redundantly actuated cable driving parallel robots (CDPRs) to suppress the residual vibration (RV). To make the design of the RV suppression convenient, the flexible displacements of the moving platform were taken as the generalized coordinates considering the axial deformation of cables, and rigid-flexible dynamic model of generalized redundantly actuated CDPRs was established with the Newton-Euler equation and the Newton's law. Then to cope with time-variant vibration frequencies of the CDPRs due to the variable lengths of cables, the technique that combined the one- to three-order zero vibration (ZV) IS with the particle swarm optimization (PSO) and the controller was proposed to suppress the RV. At last, to validate the effectiveness the proposed method, the simulations were carried out in a redundantly actuated CDPR that has six degree-of-freedom CDPR and seven driving cables with the proposed method, the results show that the RVs can be reduced significantly.https://ieeexplore.ieee.org/document/9099862/Cable-driving parallel manipulator robotdynamic modelingmultiple mode input shapingparticle swarm optimization |
| spellingShingle | Zhengsheng Chen Xuesong Wang Dynamic Modeling and Residual Vibration Suppression of the Redundantly-Actuated Cable Driving Parallel Manipulator IEEE Access Cable-driving parallel manipulator robot dynamic modeling multiple mode input shaping particle swarm optimization |
| title | Dynamic Modeling and Residual Vibration Suppression of the Redundantly-Actuated Cable Driving Parallel Manipulator |
| title_full | Dynamic Modeling and Residual Vibration Suppression of the Redundantly-Actuated Cable Driving Parallel Manipulator |
| title_fullStr | Dynamic Modeling and Residual Vibration Suppression of the Redundantly-Actuated Cable Driving Parallel Manipulator |
| title_full_unstemmed | Dynamic Modeling and Residual Vibration Suppression of the Redundantly-Actuated Cable Driving Parallel Manipulator |
| title_short | Dynamic Modeling and Residual Vibration Suppression of the Redundantly-Actuated Cable Driving Parallel Manipulator |
| title_sort | dynamic modeling and residual vibration suppression of the redundantly actuated cable driving parallel manipulator |
| topic | Cable-driving parallel manipulator robot dynamic modeling multiple mode input shaping particle swarm optimization |
| url | https://ieeexplore.ieee.org/document/9099862/ |
| work_keys_str_mv | AT zhengshengchen dynamicmodelingandresidualvibrationsuppressionoftheredundantlyactuatedcabledrivingparallelmanipulator AT xuesongwang dynamicmodelingandresidualvibrationsuppressionoftheredundantlyactuatedcabledrivingparallelmanipulator |