Cable Suspended Parallel Manipulators represent an emerging field of study due to the complexities predicting their pose. Despite this issue, suspended cable manipulators possess several advantages over fully-constrained cable manipulators. These include, among others, ease of setup and fewer cables. The reduction in cables relieves excess force computation and likelihood of cable interference.
Two planar Cable Suspended Parallel Manipulator models were created. One has one end-effector connection point, a pendulum type CSPM, and the other has two connection points, a suspended plate type CSPM . The model's dynamic properties were explored to create system input commands that limited residual vibration. Simulations were run demonstrating the effectiveness of the control methods.
The simulations were verified using experimental data. The pendulum type CSPM experiments were performed on a small-scale CSPM setup, while the platform type CSPM experiments were performed on a full-scale bridge-inspecting robot. The control method created for both experiments proved to reduce the vibration opposed to no control method. The CSPM model was also used to create a cooperative input control method, which reduced the risetime of the control command, while still providing vibration reduction.
|Advisor:||Vaughan, Joshua E.|
|Commitee:||Darby, Paul, Taylor, Charles E.|
|School:||University of Louisiana at Lafayette|
|School Location:||United States -- Louisiana|
|Source:||MAI 57/05M(E), Masters Abstracts International|
|Keywords:||CDPM, CSPM, Cable, Input shaping, Manipulator|
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