Modal parameter identification of the support frame of the high-speed pick-and-place cable-driven parallel robot

Abstract

Parallel manipulators of Delta and Part4 are widely adopted as high-speed, pick-and-place robots. Inertial force generated by high-speed motion has raised the demand for dynamic match between the robot and the support frame. In this study, the proposed high-speed, pick-and-place, cable-driven parallel robot is adopted as the research object. The modal parameters of the support frame are identified via the experimental method, and the first three orders are determined. The mode shape passed the orthogonality matrix check, thereby proving the reliability of the experimental results. This study establishes a foundation for the dynamic match and input filtering control of high-speed, pick-and-place parallel robots.