Abstract
This paper investigates the use of the Rayleigh-Ritz method to model single degree-of-freedom flexible cable-driven parallel robots (CDPRs) using a set of time-dependent basis functions to discretize cables of varying length. An energy-based model simplification is proposed to further facilitate reduction in the computational load when performing numerical simulations involving the proposed model. Open-loop system responses are used to compare the effect of the energy-based model simplification. Frequency responses are used to compare the influence of the number of basis functions used and to provide a comparison to a lumped-mass model.
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Godbole, H.A., Caverly, R.J., Forbes, J.R. (2018). Modelling of Flexible Cable-Driven Parallel Robots Using a Rayleigh-Ritz Approach. In: Gosselin, C., Cardou, P., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-319-61431-1_1
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DOI: https://doi.org/10.1007/978-3-319-61431-1_1
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