MEMS Seminar: Modeling and Control of Cable-Driven Parallel Robots: Development of a Modular Approach to Modeling Cable-Driven Parallel Robots

Conventional serial and parallel robotic manipulators are well understood and have widespread use in applications ranging from autonomous manufacturing to flight simulator platforms. Cable-driven parallel robots are a relatively new class of robotic manipulators that have intriguing features, including a large workspace and high payload-to-weight-ratio, which have the potential to enable exciting new robotic applications. While these features are promising, high-acceleration maneuvers that take advantage of these properties often excite the structural vibration modes of the cables, which can cause instability of the system.