Active vibration damping of a cable-driven parallel manipulator using a multirotor system

Yue Sun; Matthew Newman; Arthur Zygielbaum; Benjamin Terry

doi:10.1007/978-3-030-20751-9_34

Active vibration damping of a cable-driven parallel manipulator using a multirotor system

Yue Sun, Matthew Newman, Arthur Zygielbaum, Benjamin Terry

Mechanical & Materials Engineering

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

A cable-driven parallel manipulator (CDPM) is a robotic manipulator designed to control the position and/or orientation of its end effector within the system’s workspace by use of actuated cables. Some configurations of cable-driven systems are inherently low in stiffness and so the end effector is prone to vibration under disturbances. In this paper, we study the feasibility of implementing a multirotor system to actively damp the translational vibration of CDPM end effectors. In a simulated experiment, the system attenuates vibration time by 80% for a 30 kg mass with a vibration frequency of 1Â Hz and an undamped amplitude of 15Â cm.

Original language	English (US)
Pages (from-to)	403-414
Number of pages	12
Journal	Mechanisms and Machine Science
Volume	74
DOIs	https://doi.org/10.1007/978-3-030-20751-9_34
State	Published - 2019

Keywords

Cable-driven parallel manipulator
Multirotor system
Vibration damping

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

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10.1007/978-3-030-20751-9_34

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title = "Active vibration damping of a cable-driven parallel manipulator using a multirotor system",

abstract = "A cable-driven parallel manipulator (CDPM) is a robotic manipulator designed to control the position and/or orientation of its end effector within the system{\textquoteright}s workspace by use of actuated cables. Some configurations of cable-driven systems are inherently low in stiffness and so the end effector is prone to vibration under disturbances. In this paper, we study the feasibility of implementing a multirotor system to actively damp the translational vibration of CDPM end effectors. In a simulated experiment, the system attenuates vibration time by 80% for a 30 kg mass with a vibration frequency of 1{\^A} Hz and an undamped amplitude of 15{\^A} cm.",

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author = "Yue Sun and Matthew Newman and Arthur Zygielbaum and Benjamin Terry",

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year = "2019",

doi = "10.1007/978-3-030-20751-9_34",

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T1 - Active vibration damping of a cable-driven parallel manipulator using a multirotor system

AU - Sun, Yue

AU - Newman, Matthew

AU - Zygielbaum, Arthur

AU - Terry, Benjamin

N1 - Publisher Copyright: © Springer Nature Switzerland AG 2019.

PY - 2019

Y1 - 2019

N2 - A cable-driven parallel manipulator (CDPM) is a robotic manipulator designed to control the position and/or orientation of its end effector within the system’s workspace by use of actuated cables. Some configurations of cable-driven systems are inherently low in stiffness and so the end effector is prone to vibration under disturbances. In this paper, we study the feasibility of implementing a multirotor system to actively damp the translational vibration of CDPM end effectors. In a simulated experiment, the system attenuates vibration time by 80% for a 30 kg mass with a vibration frequency of 1Â Hz and an undamped amplitude of 15Â cm.

AB - A cable-driven parallel manipulator (CDPM) is a robotic manipulator designed to control the position and/or orientation of its end effector within the system’s workspace by use of actuated cables. Some configurations of cable-driven systems are inherently low in stiffness and so the end effector is prone to vibration under disturbances. In this paper, we study the feasibility of implementing a multirotor system to actively damp the translational vibration of CDPM end effectors. In a simulated experiment, the system attenuates vibration time by 80% for a 30 kg mass with a vibration frequency of 1Â Hz and an undamped amplitude of 15Â cm.

KW - Cable-driven parallel manipulator

KW - Multirotor system

KW - Vibration damping

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EP - 414

JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

ER -

Active vibration damping of a cable-driven parallel manipulator using a multirotor system

Abstract

Keywords

ASJC Scopus subject areas

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