Abstract
Static and dynamic behavior of cable driven parallel robots (CDPRs) depends on cable elasticity as well as its tension and mass. In order to predict and analyze precisely several dynamic effects, we propose a finite element formulation where both tensile and bending stiffness of cables are considered. To this end, we introduce nonlinear 3-node flexural elements overlapped with 2-node bar elements. This formulation uses absolute nodal coordinates without introducing rotational degrees of freedom. It relies on deformation energy to derive internal elastic forces and tangent rigidity matrices. Simulation examples on a single cable free fall and modal analysis of a three-cable planar CDPR are provided to illustrate our modeling approach.
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