Analytical dynamic solution of a flexible cable-suspended manipulator

作     者：Mahdi BAMDAD 

作者机构：Mechatronics Research LaboratoryCollege of Mechanical EngineeringShahrood University of Technology 

出 版 物：《Frontiers of Mechanical Engineering》 (高等学校学术文摘·机械工程前沿(英文))

年 卷 期：2013年第8卷第4期

页      面：350-359页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0801[工学-力学（可授工学、理学学位）] 

主　　题：parallel robot flexible cable suspended robot dynamic 

摘      要：Cable-suspended manipulators are used in large scale applications with,heavy in weight and long in span *** seems impractical to maintain cable assumptions of smaller robots for large scale *** interactions among the cables,platforms and actuators can fully evaluate the coupled dynamic *** structural flexibility of the cables becomes more pronounced in large *** this paper,an analytic solution is provided to solve cable ***,a closed form solution can be adopted to improve the dynamic response to *** output is provided by the optimal torque generation subject to the actuator limitations in a mechatronic ***,the performance of the proposed algorithm is examined through simulations.