Dynamic Investigation of a Cable-Driven Marine Robot (CDMR) with Different Cables' Characteristics

摘要

In this paper, a dynamic investigation is conducted on a Cable-Driven Robot in a marine environment (CDMR). The influence of changing cables' characteristics is studied to improve the dynamic behavior of the CDMR. The CDMR has six-degrees-of-freedom (DOF) cylindrical floating structure and it is analyzed in the framework of rigid-body dynamics. It consists of six cables driven by motors/reels mounted on the floating structure and anchored to the seabed. 3-3 Stewart-Gough cables configuration is considered in this work. CDMR dynamic response, stiffness, and cables tension are studied with different cable stiffness and pre-tensions. This work intentions to improve CDMR effectiveness.