Simulation of effect of cable robot configuration on natural frequency

Jinlong Piao; Jinwoo Jung; Jeong An Seon; Sukho Park; Jong Oh Park; Seong Young Ko

doi:10.1109/ICMA.2015.7237764

Simulation of effect of cable robot configuration on natural frequency

Jinlong Piao, Jinwoo Jung, Jeong An Seon, Sukho Park, Jong Oh Park, Seong Young Ko

Department of Robotics and Mechatronics Engineering

Chonnam National University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Cable-driven parallel robots consist of non-rigid cables which are different from traditional serial robots. The lightweight of the cables allows them to have higher payload and larger workspace. However, the cables may cause significant vibration during operation because the cables are inevitably flexible. Increasing natural frequencies is one of the solutions to reduce the vibration of the cable robots. We propose that relationship between the shape of end-effector and the shape of frame can affect natural frequencies of planar cable driven parallel robots. To investigate the relationship, equations of motion for a planar cable robot is developed using Lagrange approach. Equations of motion are linearized for vibration analysis. Through mode analysis with different shapes of end-effector, it is verified that different combinations of end-effector shape and frame shape can cause different natural frequencies. Thus, it is possible to design a planar cable robot by utilizing the relationship between the shapes.

Original language	English
Title of host publication	2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1828-1833
Number of pages	6
ISBN (Electronic)	9781479970964
DOIs	https://doi.org/10.1109/ICMA.2015.7237764
State	Published - 2 Sep 2015
Event	12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 - Beijing, China Duration: 2 Aug 2015 → 5 Aug 2015

Publication series

Name	2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015

Conference

Conference	12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
Country/Territory	China
City	Beijing
Period	2/08/15 → 5/08/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Cable robot
end-effector shape
natural frequency
vibration

Access to Document

10.1109/ICMA.2015.7237764

Cite this

Piao, J., Jung, J., Seon, J. A., Park, S., Park, J. O., & Ko, S. Y. (2015). Simulation of effect of cable robot configuration on natural frequency. In 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015 (pp. 1828-1833). Article 7237764 (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2015.7237764

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abstract = "Cable-driven parallel robots consist of non-rigid cables which are different from traditional serial robots. The lightweight of the cables allows them to have higher payload and larger workspace. However, the cables may cause significant vibration during operation because the cables are inevitably flexible. Increasing natural frequencies is one of the solutions to reduce the vibration of the cable robots. We propose that relationship between the shape of end-effector and the shape of frame can affect natural frequencies of planar cable driven parallel robots. To investigate the relationship, equations of motion for a planar cable robot is developed using Lagrange approach. Equations of motion are linearized for vibration analysis. Through mode analysis with different shapes of end-effector, it is verified that different combinations of end-effector shape and frame shape can cause different natural frequencies. Thus, it is possible to design a planar cable robot by utilizing the relationship between the shapes.",

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Piao, J, Jung, J, Seon, JA, Park, S, Park, JO & Ko, SY 2015, Simulation of effect of cable robot configuration on natural frequency. in 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015., 7237764, 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015, Institute of Electrical and Electronics Engineers Inc., pp. 1828-1833, 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015, Beijing, China, 2/08/15. https://doi.org/10.1109/ICMA.2015.7237764

Simulation of effect of cable robot configuration on natural frequency. / Piao, Jinlong; Jung, Jinwoo; Seon, Jeong An et al.
2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1828-1833 7237764 (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Simulation of effect of cable robot configuration on natural frequency

AU - Piao, Jinlong

AU - Jung, Jinwoo

AU - Seon, Jeong An

AU - Park, Sukho

AU - Park, Jong Oh

AU - Ko, Seong Young

PY - 2015/9/2

Y1 - 2015/9/2

N2 - Cable-driven parallel robots consist of non-rigid cables which are different from traditional serial robots. The lightweight of the cables allows them to have higher payload and larger workspace. However, the cables may cause significant vibration during operation because the cables are inevitably flexible. Increasing natural frequencies is one of the solutions to reduce the vibration of the cable robots. We propose that relationship between the shape of end-effector and the shape of frame can affect natural frequencies of planar cable driven parallel robots. To investigate the relationship, equations of motion for a planar cable robot is developed using Lagrange approach. Equations of motion are linearized for vibration analysis. Through mode analysis with different shapes of end-effector, it is verified that different combinations of end-effector shape and frame shape can cause different natural frequencies. Thus, it is possible to design a planar cable robot by utilizing the relationship between the shapes.

AB - Cable-driven parallel robots consist of non-rigid cables which are different from traditional serial robots. The lightweight of the cables allows them to have higher payload and larger workspace. However, the cables may cause significant vibration during operation because the cables are inevitably flexible. Increasing natural frequencies is one of the solutions to reduce the vibration of the cable robots. We propose that relationship between the shape of end-effector and the shape of frame can affect natural frequencies of planar cable driven parallel robots. To investigate the relationship, equations of motion for a planar cable robot is developed using Lagrange approach. Equations of motion are linearized for vibration analysis. Through mode analysis with different shapes of end-effector, it is verified that different combinations of end-effector shape and frame shape can cause different natural frequencies. Thus, it is possible to design a planar cable robot by utilizing the relationship between the shapes.

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Piao J, Jung J, Seon JA, Park S, Park JO, Ko SY. Simulation of effect of cable robot configuration on natural frequency. In 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1828-1833. 7237764. (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015). doi: 10.1109/ICMA.2015.7237764

Simulation of effect of cable robot configuration on natural frequency

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