Vibration Reduction of Flexible Rope-Driven Mobile Robot for Safe Façade Operation

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...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2021-08, Vol.26 (4), p.1812-1819
Hauptverfasser:	Seo, Myoungjae, Yoo, Sungkeun, Choi, Myeongjin, Oh, Joohyun, Kim, Hwa Soo, Seo, TaeWon
Format:	Artikel
Sprache:	eng
Schlagworte:	Cable-driven parallel robots Damping ratio Decomposition Facades Input shaping Jacobi matrix method Jacobian matrices Jacobian matrix Kinematics mechanism design Mechatronics modal decomposition Resonant frequencies Robot sensing systems Robots Rope rope modeling Vibration Vibration control Vibration measurement Vibrations
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