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

Yue Sun, Matthew Newman, Arthur Zygielbaum, Benjamin Terry

Research output: Contribution to journalArticlepeer-review

1 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 1 Hz and an undamped amplitude of 15 cm.

Original languageEnglish (US)
Pages (from-to)403-414
Number of pages12
JournalMechanisms and Machine Science
Volume74
DOIs
StatePublished - 2019

Keywords

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

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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