The dynamics of a class of electrically-actuated and cable-driven manipulators

From the control point-of-view, cable-driven manipulators have the advantages, of low inertia, low friction and backlash, that is, of good force-reflecting properties. However, they may 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.