Issue |
Mechanics & Industry
Volume 25, 2024
|
|
---|---|---|
Article Number | 27 | |
Number of page(s) | 9 | |
DOI | https://doi.org/10.1051/meca/2024024 | |
Published online | 21 October 2024 |
Regular Article
Active vibration control of a cable-driven parallel robot using active rods
1
INSA Lyon, CNRS, LaMCoS, UMR5259, 69621 Villeurbanne, France
2
Univ Lyon, INSA-Lyon, CNRS UMR5005, Laboratoire Ampère, 69621, France
* e-mail: simon.chesne@insa-lyon.fr
Received:
31
October
2023
Accepted:
4
September
2024
This study deals with the integration of two active rods on a cable-driven parallel robot (CDPR) to control its vibrations. Three control laws derived from Integral Force Feedback (IFF) are proposed and compared analytically using a dynamic CDPR model: αβ-IFF, IFF with filters and IFF with positive proportional feedback (PIFF). A prototype was set up to test the performance of the active rods. A parametric study was then carried out on this prototype to choose the best control law and optimise its parameters. The use of only two active rods over eight driven cables allowed reducing the vibration levels over the six modes of the robot.
Key words: Cable-driven parallel robot / vibration control / active rods / integral force feedback / piezoelectric transducers
© F. Lacaze et al., Published by EDP Sciences 2024
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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