Static and dynamic behavior of cable driven parallel robots (CDPRs) depends on cable elasticity as well as its tension and mass. In order to predict and analyze precisely several dynamic effects, we propose a finite element formulation where both tensile and bending stiffness of cables are considered. To this end, we introduce nonlinear 3-node flexural elements overlapped with 2-node bar elements. This formulation uses absolute nodal coordinates without introducing rotational degrees of freedom. It relies on deformation energy to derive internal elastic forces and tangent rigidity matrices. Simulation examples on a single cable free fall and modal analysis of a three-cable planar CDPR are provided to illustrate our modeling approach.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Absolute Nodal Coordinate Finite Element Formulation of Cables for Dynamic Modeling of CDPRs


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

    International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023



    Publication date :

    2023-06-03


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English