Dynamic modeling and control of a cable-driven parallel mechanism with a spring spine

Abstract

This paper presents dynamic model and control system designing of a cable-driven flexible mechanism, which is composed of a moving platform, a fixed base, a column compression coil spring and three driving cables. The deformation of lateral dynamic bend for the spring is described by using the coupling theory of the rigid body’s plane rotary movement and the flexible body’s flexible deformation. Based on the description of the deformation of lateral dynamic bend for the flexible spring, the assumed mode method (AMM) and Lagrange’s equation are applied to the formulation of the mechanism’s dynamic model. Then, two system controllers are designed by using the linear quadratic optimal control (LQOC) method. Finally, the analyses of the simulation and the experiment are presented to validate the availability of the theoretical model for control and the proposed control method.