TY - CHAP
T1 - A Novel Determination of Boundaries of Cable Forces for Cable-Driven Parallel Robots with Frequency Constraint by Using Differential Evolution Algorithm
AU - Nguyen-Van, Sy
AU - Gwak, Kwan Woong
N1 - Publisher Copyright:
© Springer Nature Switzerland AG 2020.
PY - 2020
Y1 - 2020
N2 - The vibration problem of cable-driven parallel robots has not been well studied because most of the existing methods use the spring element to model cables. In addition, to improve dynamic performance or to avoid resonance for a cable-driven parallel robot moving along a certain trajectory, its structure should be under the frequency constraint. However, the energy consumption is not minimized due to using the fixed values of boundaries of cable force in tension distributions. To solve these two problems, this study sought to use a finite element method for vibration analysis of cable-driven parallel robots. To validate the feasibility of the finite element program, vibration analysis is designed for a spatial cable-driven parallel robot and its results are compared with those of the commercial software, SAP2000. Additionally, optimization of values of boundaries of cable forces is proposed to improve dynamic performance and to save energy consumption by using differential evolution (DE). The total sum of cable forces which are related to energy consumption is the objective function. From our obtained results, it shows that the reduced percentage of the maximum cable tension between the optimized and fixed boundary cases is 10.5%.
AB - The vibration problem of cable-driven parallel robots has not been well studied because most of the existing methods use the spring element to model cables. In addition, to improve dynamic performance or to avoid resonance for a cable-driven parallel robot moving along a certain trajectory, its structure should be under the frequency constraint. However, the energy consumption is not minimized due to using the fixed values of boundaries of cable force in tension distributions. To solve these two problems, this study sought to use a finite element method for vibration analysis of cable-driven parallel robots. To validate the feasibility of the finite element program, vibration analysis is designed for a spatial cable-driven parallel robot and its results are compared with those of the commercial software, SAP2000. Additionally, optimization of values of boundaries of cable forces is proposed to improve dynamic performance and to save energy consumption by using differential evolution (DE). The total sum of cable forces which are related to energy consumption is the objective function. From our obtained results, it shows that the reduced percentage of the maximum cable tension between the optimized and fixed boundary cases is 10.5%.
KW - Boundaries of cable forces
KW - Cable-driven parallel robots
KW - Differential evolution
KW - Finite element method
KW - Frequency constraint
KW - Tension distribution algorithm
KW - Vibration analysis
UR - http://www.scopus.com/inward/record.url?scp=85076785350&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-37497-6_4
DO - 10.1007/978-3-030-37497-6_4
M3 - Chapter
AN - SCOPUS:85076785350
T3 - Lecture Notes in Networks and Systems
SP - 35
EP - 46
BT - Lecture Notes in Networks and Systems
PB - Springer
ER -
