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Modeling and analysis of cable vibrations for a cable-driven parallel robot

MPG-Autoren
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Schenk,  C
Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Masone,  C
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Miermeister,  P
Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Bülthoff,  HH
Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Zitation

Schenk, C., Masone, C., Miermeister, P., & Bülthoff, H. (2016). Modeling and analysis of cable vibrations for a cable-driven parallel robot. In IEEE International Conference on Information and Automation (ICIA 2016) (pp. 454-461). Piscataway, NJ, USA: IEEE.


Zitierlink: http://hdl.handle.net/21.11116/0000-0000-7A80-6
Zusammenfassung
In this paper we study if approximated linear models are accurate enough to predict the vibrations of a cable of a Cable-Driven Parallel Robot (CDPR) for different pretension levels. In two experiments we investigated the damping of a thick steel cable from the Cablerobot simulator [1] and measured the motion of the cable when a sinusoidal force is applied at one end of the cable. Using this setup and power spectral density analysis we measured the natural frequencies of the cable and compared these results to the frequencies predicted by two linear models: i) the linearization of partial differential equations of motion for a distributed cable, and ii) the discretization of the cable using a finite elements model. This comparison provides remarkable insights into the limits of approximated linear models as well as important properties of vibrating cables used in CDPR.