A Novel Determination of Boundaries of Cable Forces for Cable-Driven Parallel Robots with Frequency Constraint by Using Differential Evolution Algorithm
The vibration problem of cable-driven parallel robots has not been well studied because most of the existing methods use the spring element to model cables. In addition, to improve dynamic performance or to avoid resonance for a cable-driven parallel robot moving along a certain trajectory, its structure should be under the frequency constraint. However, the energy consumption is not minimized due to using the fixed values of boundaries of cable force in tension distributions. To solve these two problems, this study sought to use a finite element method for vibration analysis of cable-driven parallel robots. To validate the feasibility of the finite element program, vibration analysis is designed for a spatial cable-driven parallel robot and its results are compared with those of the commercial software, SAP2000. Additionally, optimization of values of boundaries of cable forces is proposed to improve dynamic performance and to save energy consumption by using differential evolution (DE). The total sum of cable forces which are related to energy consumption is the objective function. From our obtained results, it shows that the reduced percentage of the maximum cable tension between the optimized and fixed boundary cases is 10.5%.
KeywordsCable-driven parallel robots Finite element method Vibration analysis Tension distribution algorithm Boundaries of cable forces Frequency constraint Differential evolution
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