• 로봇학회논문지
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• 제11권2호
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• pp.73-82
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• 2016

This paper focuses on the vibration analysis of planar cable-driven parallel robots on their configurations. Despite of many advantages of the cable robots, elasticity of the cables may cause the vibration at the existence of external disturbance, resulting in deterioration of positioning accuracy. According to the vibration theory, having high first order natural frequency can prevent resonance with low frequency disturbance from the surrounding environment. A series of simulations showed that choosing frame / end-effector shape and cable connection method affects robots' natural frequency. For the precise simulation, the cables are modeled as linear springs and axial vibration of cables is mainly considered. Aspect ratios of the frame and end-effector are defined as non-dimensional parameters while their areas are fixed. It was shown that vibration analysis guides to design a planar cable robot in terms of high capacity to reduce vibration.

• 제어로봇시스템학회논문지
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• 제21권11호
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• pp.1070-1075
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• 2015

This paper proposes a calibration algorithm for a three-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). To evaluate the proposed algorithm, we calibrated winches and an optical tracking sensor, measured the end-effector pose using the optical tracking sensor, and calculated the accurate robot configuration using the measurement information. To conduct an accuracy test on the end-effector pose, we followed guidelines from "Manipulating industrial robots - Performance criteria and related test methods." Through the test, it is verified that the position accuracy can be improved by up to 20% for a $2m{\times}2m$-sized planar cable robot using the proposed calibration algorithm.