This paper presented the vibration analysis of cable parallel robot by mode tracking method. Cable vibration was analyzed and simulated by ANSYS APDL. In this paper, Effective frequency was used because this frequency makes the vibration of end-effector increased up to 5 times compared to the first fundamental frequency. Also end-effector position was considered. The simulation results show that effective frequency is influenced by position and tension. If end-effector moves high speed, effective frequency is more influenced than low speed. High speed CDPR must be considering its effective frequency to increase accuracy.
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