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A novel modified analytical method and finite element method for vibration analysis of cable-driven parallel robots


Cable-driven parallel robots (CDPRs) are vulnerable to vibration due to the inevitable flexible properties of the cables. Thus, vibration analysis is critical for CDPR’s operation in which highly accurate motion is required. However, most of the current methods related to vibration analysis of CDPRs rely on simple spring models which have limitations in their performance and complexity that are not general to analyze the vibration of various CDPRs. Hence, accurate, simple and general approaches for vibration analysis in CDPRs are need. To solve this problem, this paper presents the finite element method (FEM) and the modified analytical method to analyze the vibration of CDPRs. To validate these methods, free vibration analysis was conducted using the proposed methods for the planar and spatial cable-driven parallel robots. The natural frequencies of these two CDPRs were computed by the proposed two methods and compared with those of the commercial software, SAP2000. The solutions obtained by the FEM and the modified analytical models turned out to be close to SAP2000’s results, thereby verifying the validity of the proposed methods.

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This research was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (NRF-2020R1A4A2002855).

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Corresponding author

Correspondence to Kwan-Woong Gwak.

Additional information

Sy Nguyen-Van received his B.S. and M.S. in Mechanical Engineering from Thai Nguyen University of Technology, Thai Nguyen, Vietnam, in 2015, and Sejong University, Seoul, South Korea, in 2019, respectively. He is currently a Lecturer there. His research interests are robotics, evolutionary algorithms, and engineering optimization.

Kwan-Woong Gwak received his B.S. and M.S. in Mechanical Engineering from Korea University, Korea, in 1993 and 1995, respectively, and his Ph.D. with a specialization in nonlinear control system design from the University of Texas, Austin, in 2003. Since 2006, he has been with the Department of Mechanical Engineering, Sejong University, where he is currently a Professor. His research interest includes the robotics, control system design, and mechatronics.

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Nguyen-Van, S., Gwak, KW., Nguyen, DH. et al. A novel modified analytical method and finite element method for vibration analysis of cable-driven parallel robots. J Mech Sci Technol 34, 3575–3586 (2020).

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  • Cable-driven parallel robots
  • The cable element
  • The finite element method
  • The analytical method
  • Vibration analysis
  • Natural frequencies