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

Yue Sun, Matthew Newman, Arthur Zygielbaum, Benjamin Terry

Research output: Chapter in Book/Report/Conference proceedingChapter

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 1 Hz and an undamped amplitude of 15 cm.

Original languageEnglish (US)
Title of host publicationMechanisms and Machine Science
PublisherSpringer Netherlands
Pages403-414
Number of pages12
DOIs
StatePublished - Jan 1 2019

Publication series

NameMechanisms and Machine Science
Volume74
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Keywords

  • Cable-driven parallel manipulator
  • Multirotor system
  • Vibration damping

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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  • Cite this

    Sun, Y., Newman, M., Zygielbaum, A., & Terry, B. (2019). Active vibration damping of a cable-driven parallel manipulator using a multirotor system. In Mechanisms and Machine Science (pp. 403-414). (Mechanisms and Machine Science; Vol. 74). Springer Netherlands. https://doi.org/10.1007/978-3-030-20751-9_34