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Active Vibration Damping of a Cable-Driven Parallel Manipulator Using a Multirotor System

  • Yue SunEmail author
  • Matthew Newman
  • Arthur Zygielbaum
  • Benjamin Terry
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)

Abstract

A cable-driven parallel manipulator (CDPM) is a robotic manipulator designed to control the position and/or orientation of its end effector within the system’s workspace by use of actuated cables. Some configurations of cable-driven systems are inherently low in stiffness and so the end effector is prone to vibration under disturbances. In this paper, we study the feasibility of implementing a multirotor system to actively damp the translational vibration of CDPM end effectors. In a simulated experiment, the system attenuates vibration time by 80% for a 30 kg mass with a vibration frequency of 1 Hz and an undamped amplitude of 15 cm.

Keywords

cable-driven parallel manipulator vibration damping multirotor system 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Yue Sun
    • 1
    Email author
  • Matthew Newman
    • 1
  • Arthur Zygielbaum
    • 2
  • Benjamin Terry
    • 1
  1. 1.Department of Mechanical and Materials EngineeringUniversity of Nebraska-LincolnLincolnUSA
  2. 2.School of Natural ResourcesUniversity of Nebraska-LincolnLincolnUSA

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