Session: MSNDC-04-02 Nonlinear Dynamics of Structures

Paper Number: 97620

97620 - Elongation Modeling for Elastic Flexible Cables Based on Passivity Theorem for Cable-Driven Parallel Robots 

The polymer cable is one of the most widely used materials in cable-driven parallel robot (CDPR) systems due to its flexibility, high withstand, and low inertia. However, the operation of the CDPR system with high accuracy is not easily achieved because of the complicated elastic response of polymer cable. This paper investigates the modeling of elongation based on the passivity theorem in polymer cables for CDPR. By passivity theorem analysis, the cable elongation model for the polymer cable is obtained. It shows that the elongation of a polymer cable can be replaced by an odd polynomial function. When the cables are tensile by integrating a simple model with scheme position control, the elongation values are compensated. From these, it increases the accuracy of the end-effector. To verify and evaluate the proposed model, experiments are conducted by processes varying the applied force and cable length. Moreover, tensile rates were also considered. The proposed model was tested by simulation and experiment. It was shown that the simulated results and experimental results were in good agreement, and it exhibits satisfactory performance. The advantages of the model are that this model can be integrated easily on any controller. Thus, prediction for elongation of polymer cable induced by creep strain can be implemented and compensated in systems to increase pose accuracy for the cable-driven parallel robot.

Presenting Author: Shyh-Chour Huang National Kaohsiung University of Science and Technology

Presenting Author Biography: SHYH-CHOUR HUANG is a professor of Mechanical Engineering at the National Kaohsiung University of Science and Technology, Taiwan, ROC. He received his bachelor’s degree in Aeronautics and Astronautics Engineering from the National Cheng-Kung University in 1980, Taiwan, ROC. He received his Ph.D. in Mechanical Engineering from the University of Cincinnati in 1990 (in the USA). His research interests include micro-electromechanical systems’ design, biomechanics, compliant mechanisms, multibody dynamics, fuzzy logic control, vibration control, and optimization algorithms.

Authors:

Vu N. D. Kieu Faculty of Engineering and Technology, Nguyen Tat Thanh University
Van Nam Giap School of Electrical Engineering, Hanoi University of Science and Technology
Shyh-Chour Huang National Kaohsiung University of Science and Technology