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Abstract
In recent years, cable-driven-parallel robots (CDPRs) have been studied for façade operations. There are various types of CDPRs; however, underconstrained CDPRs are capable of wider operating in façade workspaces than overconstrained CDPRs. Therefore, in this article, a dual ascender robot (DAR) was used for façade operations. Herein, two suggestions for safe façade operations are presented. First, a flexible nylon fiber rope was modeled such that the vibration direction, natural frequency, and damping ratio of the DAR could be converted through a Jacobian matrix and modal decomposition from the rope model. Second, input shaping control was applied to reduce vibrations, based on the vibration model of a DAR using the rope model. Modal decomposition was verified using a verification experiment, and the effect of input shaping was evaluated by comparing the w/input shaping and w/o input shaping experiments. w/input shaping case was shown about 48% reducing robot vibration and about 35% shortening settling time compare with w/o input shaping case.
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