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Title:

Dynamic analysis of high precision construction cable-driven parallel robots

Document type:
Zeitschriftenaufsatz
Author(s):
Ferravante, Vittorio.; Riva, Emanuele.; Taghavi, Meysam.; Braghin, Francesco .; Bock, Thomas.
Abstract:
In this paper we propose a modeling strategy for Cable Driven Parallel Robots (CDPRs) that - given their complexity - are typically addressed using simplified analysis, therefore neglecting relevant dynamics. Specifically, the finite element method is used for cables modeling, in order to account for their mass and stress-dependent stiffness. Geometrical effects given by platform motion in the 3D space have been included in our study, coupling cables finite element model and platform dynamic,...     »
Keywords:
Cable-driven parallel robot; Dynamic analysis; Structural vibrations; Frequency response; Cable dynamic
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Journal title:
Mechanism and Machine Theory
Year:
2019
Journal volume:
135
Pages contribution:
54-64
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1016/j.mechmachtheory.2019.01.023
WWW:
https://www.sciencedirect.com/science/article/pii/S0094114X18307134
Publisher:
Elsevier BV
E-ISSN:
0094-114X
Date of publication:
01.05.2019
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