Stability improvement of a four cable-driven parallel manipulator using a center of mass balance system

Iman Salafian, Blake Stewart, Matthew Newman, Arthur I. Zygielbaum, Benjamin Terry

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


A four cable-driven parallel manipulator (CDPM), consisting of sophisticated spectrometers and imagers, is under development for use in acquiring phenotypic and environmental data over an acre-sized crop field. To obtain accurate and high quality data from the instruments, the end effector must be stable during sensing. One of the factors that reduces stability is the center of mass offset of the end effector, which can cause a pendulum effect or undesired tilt angle. The purpose of this work is to develop a system and method for balancing the center of mass of a 12th-scale CDPM to minimize vibration that can cause error in the acquired data. A simple method for balancing the end effector is needed to enable end users of the CDPM to arbitrarily add and remove sensors and imagers from the end effector as their experiments may require. A Center of Mass Balancing System (CMBS) is developed in this study which consists of an adjustable system of weights and a gimbal for tilt mitigation. An electronic circuit board including an orientation sensor, wireless data communication, and load cells was designed to validate the CMBS. To measure improvements gained by the CMBS, several static and dynamic experiments are carried out. In the experiments, the dynamic vibrations due to the translational motion and static orientation were measured with and without CMBS use. The results show that the CMBS system improves the stability of the end-effector by decreasing vibration and static tilt angle.

Original languageEnglish (US)
Title of host publicationHyperspectral Imaging Sensors
Subtitle of host publicationInnovative Applications and Sensor Standards 2017
EditorsDavid P. Bannon
ISBN (Electronic)9781510609273
StatePublished - 2017
EventHyperspectral Imaging Sensors: Innovative Applications and Sensor Standards 2017 - Anaheim, United States
Duration: Apr 12 2017 → …

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X


OtherHyperspectral Imaging Sensors: Innovative Applications and Sensor Standards 2017
Country/TerritoryUnited States
Period4/12/17 → …


  • Cable-driven parallel manipulator
  • Center of mass balance system
  • Phenotyping
  • Remote sensing
  • Vibration damping

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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