An approach on stability analysis of cable-driven parallel robots considering cable mass
Source abstract
Abstract
This paper presents an approach on stability analysis of cable-driven parallel robots (CDPRs) considering cable mass based on cable tensions and stiffness matrix condition numbers. A cable model is introduced considering the effect of cable mass. A stiffness model is established based on the cable model. Then, the stiffness matrix condition numbers are presented. Furthermore, the stability of CDPRs is discussed. Numerical simulations show that the stability is better in the center and at the top of the whole workspace than in other places, which agrees well with theoretical predictions. The mixed evaluation stability indices considering cable mass and neglecting cable mass are, respectively, compared. The results show that cable mass is not negligible when evaluating accurately the stability of a cable-driven parallel robot.
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Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Advanced Surface Polishing Techniques · Piezoelectric Actuators and Control
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
College of Mechanical and Electrical Engineering, Foshan University 1 , Foshan 528225, China
Key Laboratory of Ministry of Education for Electronic Equipment Structure Design, Xidian University 2 , Xi’an 710071, China
Funding
Natural Science Foundation of Guangdong Province · National Natural Science Foundation of China · National Key Research and Development Program of China
References (17)
Show source-provided references
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