Vibration Characteristic of 6-DOF Cable-driven Parallel Manipulator

The 6-DOF cable-driven parallel manipulator can achieve a wide range of motion in six degrees of freedom,which leads to the dominant position in the applications of assembling,machining,docking and so on.The 6-DOF cable-driven parallel manipulator bears a concern of possible vibration due to flexible cables.On this point,the vibration characteristic of the 6-DOF cable-driven parallel manipulator is analyzed.The dynamic model of the system is deduced by using Newton-Euler principle.The vibration equation is established by linearizing the dynamic equation about an operating point.On this basis,the natural frequencies are determined and the sensitivities of the first order natural frequency to structure parameters are analyzed.The cable force's spectrum analysis experiment is carried out to acquire the first and the second order natural frequency.The method proposed is verified as the experiment result is closely to theoretical result.