Abstract
Cable-driven parallel robots (CDPRs) have many advantages over conventional link-based robot manipulators in terms of acceleration due to their low inertia. This paper concerns about under-constrained CDPRs, which have a less number of cables than six, often used favorably due to their simpler structures. Since a smaller number of cables than 6 are employed, however, their payloads have extra degrees of motion freedom and exhibit swaying motions or oscillation. In this paper, a scheme to suppress unwanted oscillatory motions of the payload of a 4-cable-driven CDPR based on a Zero-vibration (ZV) input-shaping scheme is proposed. In this method, a motion in the 3-dimensional space is projected onto the independent motions on two vertical planes perpendicular to each other. On each of the vertical plane, the natural frequency of the CDPR is computed based on a 2-cable-driven planar CDPR model. The precise dynamic model of a planar CDPR is obtained in order to find the natural frequency, which depends on the payload position. The advantage of the proposed scheme is that it is possible to generate an oscillation-free trajectory based on a ZV input-shaping scheme despite the complexity in the dynamics of the CDPR and the difficulty in computing the natural frequencies of the CDPR, which is required in any ZV input-shaping scheme. To verify the effectiveness of the proposed method, a series of computer simulations and experiments were conducted for 3- dimensional motions with a 4-cable-driven CDPR. Their results showed that the motions of the CDPR with the proposed method exhibited a significant reduction in oscillations of the payload. However, when the payload moves near the edges of its workspace, the improvement in oscillation reduction diminished as expected due to the errors in model projection.
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Recommended by Editor-in-Chief Maenghyo Cho
Sung Wook Hwang received his B.S. degree in Mechanical Automotive Engineering from Pukyong National University Korea, in 2012 and his M.S. degree in Mechanical Engineering from Hanyang University, in 2014. He is currently a Ph.D. candidate. His research interests include robot dynamics and control, humanoid robots, legged robots, and cable-driven parallel robots.
Jong-Hyun Yoon received his M.S. degree in Mechanical Engineering from Hanyang University in 2008. He is Ph.D. candidate in Mechanical Engineering, Hanyang University. His research interests include cable-driven robots, manipulators, and quadrotor control.
Jeong-Hyeon Bak received his M.S. degree in Mechanical Engineering from Inha University in 2014. He is currently a Ph.D. candidate degree. His research interests include robotics and automatic control.
Jong Hyeon Park received the B.S. degree in mechanical engineering from Seoul National University, in 1981 and the S.M and Ph.D. degrees from the Massachusetts Institute of Technology (MIT), Cambridge, MA, USA, in 1983 and 1991, respectively. Since 1992, he has been with the School of Mechanical Engineering, Hanyang University, Seoul, where he is currently a professor. He was a KOSEF-JSPS (Korea Science and Engineering Foundtion-Japan Society for the Promotion of Science) Visiting Researcher at Waseda University, Tokyo, Japan, in 1999, a KOSEF-CNR Visiting Researcher at the Scuola Superiore Sant’Anna, Pisa, Italy, in 2000, a Visiting Scholar at MIT, in 2002-2003, and a Visiting Scholar at Purdue University, West Lafayette, IN, USA, in 2008-2010. He was also associated with Brooks Automation Inc., Chelmsford, MA, USA, in 1991-1992 and 2001-2002. Since 2010, he has been serving as a Senior Editor of the Journal of Mechanical Science and Technology. His research interests include biped robots, robot dynamics and control, haptics, and biorobots. Dr. Park is a member of Institute of Electrical and Electronics Engineering (IEEE), Korean Society of Mechanical Engineers, Korean Society of Automotive Engineers, Korean Society of Precision Engineering, and Institute of Control, Robotics and Systems.
Jong-Oh Park received his B.S. (1978) and M.S. (1981) degrees from the Department of Mechanical Engineering, Korea and Ph.D. (1987) in robotics from Stuttgart University, Germany. From 1982 to 1987, he worked as a guest researcher Fraunhofer-Gesellschaft Institut fur Produktionstechnik und Automatisierung (FhG IPA), Germany. He worked as a principal researcher in Korea Institute of Science and Technology (KIST) from 1987 to 2005 and he was a director of Microsystem Research Center in KIST from 1999 to 2005. In 2005, he moved to Chonnam Natuonal University where he is now a full Professor of the Department of Mechanical Engineering and a Director of Robot Research Initiative (RRI). His research interests are biomedical microrobot, medical robot and service robot.
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Hwang, S.W., Bak, JH., Yoon, J. et al. Trajectory generation to suppress oscillations in under-constrained cable-driven parallel robots. J Mech Sci Technol 30, 5689–5697 (2016). https://doi.org/10.1007/s12206-016-1139-9
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DOI: https://doi.org/10.1007/s12206-016-1139-9