乐胖代购免代理版

{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,7,25]],"date-time":"2024-07-25T23:09:48Z","timestamp":1721948988186},"reference-count":46,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2023,7,28]],"date-time":"2023-07-28T00:00:00Z","timestamp":1690502400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2023,10]]},"abstract":"Abstract<\/jats:title>Flexible cables in cable-driven parallel robots (CDPRs) are easy to be excited and vibrate. Cable vibration will react on the end-effector, causing attitude deviation of the end-effector. The main objective of this study is to accurately model axially moving flexible cables and characterize the dynamic behaviors of associated compliant CDPRs. Firstly, a model for transverse vibration of the axially moving length-variable cable is developed. On this basis, an original nonlinear dynamic model of the CDPRs able to capture the vibration of the cables and the dynamics of the end-effector is proposed. Secondly, the frequency\u2013amplitude relationship of the CDPR is obtained. Moreover, the significance of the excitation effect caused by the axially moving length-variable cables is demonstrated, by comparing the results with and without excitation effect at different frequencies. It turns out that, as the oscillation frequency of the end-effector increases, the end-effector and cables exhibit the dynamics process from steady state to unstable large-amplitude vibration and finally to stable small-amplitude vibration. This indicates that the dynamics of the CDPR exhibit non-linear characteristics, due to the influence of flexible cables. Finally, the proposed dynamic model of compliant CDPRs is validated by experiments performed in the laboratory.<\/jats:p>","DOI":"10.1017\/s0263574723000930","type":"journal-article","created":{"date-parts":[[2023,7,28]],"date-time":"2023-07-28T09:29:43Z","timestamp":1690536583000},"page":"3160-3174","source":"Crossref","is-referenced-by-count":1,"title":["Dynamic modeling and characterization of compliant cable-driven parallel robots containing flexible cables"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"http:\/\/orcid.org\/0000-0001-9787-9178","authenticated-orcid":false,"given":"Miaojiao","family":"Peng","sequence":"first","affiliation":[]},{"given":"Longhai","family":"Xiao","sequence":"additional","affiliation":[]},{"given":"Qinglin","family":"Chen","sequence":"additional","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0000-0003-2613-902X","authenticated-orcid":false,"given":"Guowu","family":"Wei","sequence":"additional","affiliation":[]},{"given":"Qi","family":"Lin","sequence":"additional","affiliation":[]},{"given":"Jiayong","family":"Zhuo","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2023,7,28]]},"reference":[{"key":"S0263574723000930_ref36","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-013-1220-1"},{"key":"S0263574723000930_ref37","volume-title":"Nonlinear Oscillations","author":"Nayfeh","year":"1979"},{"key":"S0263574723000930_ref21","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915595277"},{"key":"S0263574723000930_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000448"},{"key":"S0263574723000930_ref38","doi-asserted-by":"publisher","DOI":"10.1115\/1.3625075"},{"key":"S0263574723000930_ref39","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2009.05.004"},{"key":"S0263574723000930_ref41","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-012-0650-5"},{"key":"S0263574723000930_ref46","first-page":"121330","article-title":"Feasibility investigation on dynamic stability derivatives test of SDM model with wire-driven parallel robot suspension system","volume":"39","author":"Ji","year":"2018","journal-title":"Acta Aeronaut. 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