Skip to main content
SpringerLink
Log in

Vibration analysis of cable-driven parallel manipulators

  • Published:
Multibody System Dynamics Aims and scope Submit manuscript

Abstract

A cable-driven parallel manipulator is a manipulator whose end-effector is driven by a number of parallel cables instead of rigid links. Since cables always have more flexibility than rigid links, a cable manipulator bears a concern of possible vibration. Thus, investigation of vibration of cable manipulators caused by cable flexibility is important for applications requiring high system stiffness or bandwidth. This paper provides a vibration analysis of general 6-DOF cable-driven parallel manipulators. Based on the analysis of the natural frequencies of the multibody system, the study demonstrates that a cable manipulator can be designed stiff enough for special applications like the cable-manipulator based hardware-in-the-loop simulation of contact dynamics. Moreover, under an excitation, a cable may vibrate not only in its axial direction, but also in its transversal direction. The paper also analyzes the vibration of cable manipulators caused by cable flexibilities in both axial and transversal directions. It is shown that the vibration of a cable manipulator due to the transversal vibration of cables can be ignored comparing to that due to the axial flexibility of cables.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Ming, A., Higuchi, T.: Study on multiple degree-of-freedom positioning mechanism using wires (part 1). Int. J. Jpn. Soc. Precis. Eng. 28(2), 131–138 (1994)

    Google Scholar 

  2. Roberts, R.G., Graham, T., Lippitt, T.: On the inverse kinematics, statics, and fault tolerance of cable-suspended manipulators. J. Robot. Syst. 15(10), 581–597 (1998)

    Article  MATH  Google Scholar 

  3. Bosscher, P.M.: Disturbance robustness measures and wrench-feasible workspace generation techniques for cable-driven manipulators. Ph.D. Thesis, Georgia Institute of Technology (2004)

  4. Williams II, R.L., Gallina, P.: Translational planar cable-direct-driven robots. J. Intell. Robot. Syst. 37, 69–96 (2003)

    Article  Google Scholar 

  5. Bosscher, P., Ebert-Uphoff, I.: Wrench-based analysis of cable-driven robots. In: Proc. of IEEE Int. Conf. on Robotics and automation, New Orleans, LA, pp. 4950–4955 (2004)

  6. Behzadipour, S., Khajepour, A.: A new cable-based parallel robot with three degrees of freedom. Multibody Syst. Dyn. 13(4), 371–383 (2005)

    Article  MATH  Google Scholar 

  7. Oh, S.-R., Mankala, K.K., Agrawal, S.K., Albus, J.S.: Dynamic modeling and robust controller design of a two-stage parallel cable robot. Multibody Syst. Dyn. 13(4), 385–399 (2005)

    Article  MATH  MathSciNet  Google Scholar 

  8. Oh, S.-R., Agrawal, S.K.: Cable suspended planar robots with redundant cables: controllers with positive tensions. IEEE Trans. Robot. 21(3), 457–465 (2005)

    Article  Google Scholar 

  9. Diao, X., Ma, O.: Workspace analysis of a 6-DOF cable robot for hardware-in-the-loop dynamic simulation. In: Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems, Beijing, China, pp. 4103–4108 (2006)

  10. Gouttefarde, M., Gosselin, C.: Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms. IEEE Trans. Robot. 22(3), 434–445 (2006)

    Article  Google Scholar 

  11. Stump, E., Kumar, V.: Workspaces of cable-actuated parallel manipulators. J. Mech. Des. 128(1), 159–167 (2006)

    Article  Google Scholar 

  12. Trevisani, A., Gallina, P., Williams, R.L.: Cable-direct-driven robot (CDDR) with passive SCARA support: theory and simulation. J. Intell. Robot. Syst. 46(1), 73–94 (2006)

    Article  Google Scholar 

  13. Ma, O., Diao, X.: Dynamics analysis of a cable-driven parallel manipulator for hardware-in-the-loop dynamic simulation. In: Proc. of the IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, Monterey, CA, pp. 837–842 (2005)

  14. Gosselin, C., Zhang, D.: Stiffness analysis of parallel mechanisms using a lumped model. Int. J. Robot. Autom. 17(1), 17–27 (2002)

    Google Scholar 

  15. Gosselin, C.: Stiffness mapping for parallel manipulators. IEEE Trans. Robot. Autom. 6(3), 337–382 (1990)

    Google Scholar 

  16. Chakarov, D.: Study of the passive compliance of parallel manipulators. Mech. Mach. Theory 34(3), 373–389 (1999)

    Article  MATH  Google Scholar 

  17. Dagalakis, N.G., : Stiffness study of a parallel link robot crane for shipbuilding applications. J. Offshore Mech. Arct. Eng. 111(3), 183–193 (1989)

    Article  Google Scholar 

  18. Verhoeven, R., Hiller, M., Tadokoro, S.: Workspace, stiffness, singularities and classification of tendon-driven Stewart platforms. In: Proc. of the ARK’98 6th Int. Symposium on Advances in Robot Kinematics, Strobl, Austria, pp. 105–114 (1998)

  19. Behzadipour, S., Khajepour, A.: Stiffness of cable-based parallel manipulators with application to stability analysis. J. Mech. Des. 128(1), 303–310 (2006)

    Article  Google Scholar 

  20. Choe, W., Kino, H.: A design of parallel wire driven robots for ultrahigh speed motion based on stiffness analysis. In: Japan/USA Symposium on Flexible Automation, vol. 1, pp. 159–166 (1996)

  21. Kawamura, S., Kino, H., Won, C.: High-speed manipulation by using a parallel wire-driven robots. Robotica 18, 13–21 (2000)

    Article  Google Scholar 

  22. Liu, J., Ning, K., Zhao, M.: Model of a new type wire driven parallel robot system. J. Northeast. Univ. (Nat. Sci.) 23(10), 988–991 (2002) (in Chinese)

    Google Scholar 

  23. Diao, X., Ma, O.: A method of verifying force-closure condition for general cable manipulators with seven cables. Mech. Mach. Theory 42(12), 1563–1576 (2007)

    Article  MATH  Google Scholar 

  24. Ma, O., : On the validation of SPDM task verification facility. J. Robot. Syst. 21(5), 219–235 (2004)

    Article  Google Scholar 

  25. Rao, S.S.: Mechanical Vibrations, 4th edn. Prentice Hall, New York (2003)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, New Mexico State University, Las Cruces, NM, 88003, USA

    Xiumin Diao & Ou Ma

Authors
  1. Xiumin Diao
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ou Ma
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ou Ma.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Diao, X., Ma, O. Vibration analysis of cable-driven parallel manipulators. Multibody Syst Dyn 21, 347–360 (2009). https://doi.org/10.1007/s11044-008-9144-0

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11044-008-9144-0

Keywords

Search

Navigation