Abstract
This paper studies the configuration of a planar cable-driven parallel robot to reduce the vibration of an end-effector. Since cables are more flexible than rigid links, external disturbances may cause a significant vibration during operation. The characteristics of the vibration are closely related to the natural frequency of the end-effector. And, we consider that the shapes of the frame and the end-effector, and the connection methods of the cables can affect the vibration of the cable-driven parallel robot. Therefore, the first natural frequencies in a required workspace are analyzed by the configuration change of a planar cable-driven parallel robot. The simulation shows that planar cable robots can be designed to reduce vibration by utilizing robots configurations.
| Original language | English |
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| Title of host publication | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1588-1593 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509043644 |
| DOIs | |
| State | Published - 2016 |
| Event | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China Duration: 3 Dec 2016 → 7 Dec 2016 |
Publication series
| Name | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 |
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Conference
| Conference | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 |
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| Country/Territory | China |
| City | Qingdao |
| Period | 3/12/16 → 7/12/16 |
Bibliographical note
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