Abstract
The flexibility of the suspension multicables and driven length difference between two cables cause the translation and rotation of the platform in the incompletely restrained cable-suspended system driven by two cables (IRCSWs2), which are theoretically investigated in this paper. The suspension cables are spatially discretized using the assumed modes method (AMM) and the equations of motion are derived from Lagrange equations of the first kind. Considering all the geometric matching conditions are approximately linear with external actuator, the differential algebraic equations (DAEs) are transformed to a system of ordinary differential equations (ODEs). Using linear boundary conditions of the suspension cable, the current method can obtain not only the accurate longitudinal displacements of cable and posture of the platform, but also the tension between the platform and cables, and the current method is verified by ADAMS simulation.
Highlights
The dynamics of cable-driven parallel mechanisms have been a topic of interest since the introduction of the first designs
Four suspension cables are spatially discretized using the assumed modes method (AMM) and the equations of motion are derived from Lagrange equations of the first kind, while the geometric matching conditions at the interfaces of the cables are accounted for by the Lagrangian multiplier
The dynamical characteristic of IRCSWs2 is investigated in aspects of both theoretical model and the ADAMS simulation model
Summary
The dynamics of cable-driven parallel mechanisms have been a topic of interest since the introduction of the first designs. The mathematical model and natural characteristics of constant length of suspension cable considering the longitudinal vibration behavior and the concentrated mass of head sheave are proposed. The suspended platform is driven by four suspension cables with the upper ends fixed at actuators It takes the actuator displacement as input and takes the pose of the suspended platform and tensions and longitudinal vibration in cables as output. All the geometric matching conditions can be approximately linear, and the resulting spatially discretized equations, which are differential algebraic equations (DAEs), are transformed to ordinary differential equations (ODEs) and solved by an ODE solver
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