A hybrid vibration suppression strategy for redundant cable-driven parallel mechanisms

Abstract

Suppressing the vibration of cable-driven parallel mechanisms (CDPMs) is of great significance for improving their performance such as positioning accuracy. In this paper, a hybrid vibration suppression strategy based on stiffness enhancement and input shaping is proposed to reduce the vibration of a CDPM in the process of moving. Firstly, the stiffness model and vibration model of the CDPM are established. Then, based on the stiffness model and the vector set $λ$ that meets the requirements of the cable tensions, a stiffness enhancement algorithm is proposed to improve the stiffness of the mechanism by adjusting cable tensions. In order to reduce the vibration of the mechanism to the maximum extent, a hybrid vibration suppression strategy is proposed by combining the stiffness enhancement algorithm with the multi-modal input shaping technique. Finally, the effect of stiffness enhancement algorithm and hybrid vibration suppression strategy on reducing mechanism vibration is verified by experiments. The hybrid vibration suppression strategy proposed in this paper does not require additional components and therefore does not increase the cost of vibration suppression, and it has good performance.

Keywords

Cable-driven parallel mechanism stiffness vibration input shaping

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