The Dynamics of a Class of Electrically-Actuated and Cable-Driven Manipulators

From the control point-of-view, Cable-Driven Manipulators have the advantadges, of low inertias, low friction and backlash, that is of good force-reflecting properties. They may however exhibit vibrations and static errors due to elasticity in the mechanisms. This paper gives a guideline for obtaining the dynamic model of such manipulators in order to damp the vibrations, to counter the external forces automatically, or to predict the behavior of a projected mechanical system of this type. The proposed Computer-Aided techniques make use of automated equation generation and modal analyses.