Since most of the long-span CDPRs are installed outdoors and will be disturbed by wind, they need to be stiff enough to ensure accuracy and stability under the influence of external forces. The stiffness characteristic is an important index to evaluate the performance of the long-span CDPR. The existing static stiffness evaluation methods fall into large error of theoretical modeling or high cost of physical experiment. This chapter combines theoretical analysis and experimental studies. Firstly, the stiffness matrix is established based on the cable force and cable length obtained from the kinematic and static modeling of the long-span CDPR in Chap. 2, and the stiffness matrix is simplified by employing the modeling error compensation method to obtain the theoretical stiffness values. Then, the similarity theory is adopted to establish the physical stiffness similarity model of the long-span CDPR. Finally, the experimental results proves the effectiveness of the proposed stiffness analysis method of the long-span CDPR based on the scale model experiments considering the stiffness similarity.
Stiffness Analysis of the Long-Span Cable-Driven Parallel Robot
Research and Application of Cable-Driven and Rigid Parallel Robots ; Chapter : 4 ; 67-83
2024-02-01
17 pages
Article/Chapter (Book)
Electronic Resource
English
The Static Characteristic Analysis of the Long-Span Cable-Driven Parallel Robot
Springer Verlag | 2024
|Modeling Methods for the Long-Span Cable-Driven Parallel Robot
Springer Verlag | 2024
|Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot
Springer Verlag | 2022
|Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots
Springer Verlag | 2020
|