This paper focuses on the vibration analysis of planar cable–driven parallel robots on their configurations. Despite of many advantages of the cable robots, elasticity of the cables may cause the vibration at the existence of external disturbance, resulting in deterioration of positioning accuracy. According to the vibration theory, having high first order natural frequency can prevent resonance with low frequency disturbance from the surrounding environment. A series of simulations showed that choosing frame / end-effector shape and cable connection method affects robots’ natural frequency. For the precise simulation, the cables are modeled as linear springs and axial vibration of cables is mainly considered. Aspect ratios of the frame and end-effector are defined as non-dimensional parameters while their areas are fixed. It was shown that vibration analysis guides to design a planar cable robot in terms of high capacity to reduce vibration.

• PiaoJinlong(Mechanical Engineering, Chonnam National University, Gwangju, Korea ) | Jinlong Piao
• 정진우(Robot Research Initiative, Gwangju, Korea ) | Jinwoo Jung
• JinXuejun(Mechanical Engineering, Chonnam National University, Gwangju, Korea ) | Xuejun Jin
• 박석호(Robot Research Initiative, Gwangju, Korea ) | Sukho Park
• 박종오(Robot Research Initiative, Gwangju, Korea ) | Jong-Oh Park Corresponding author
• 고성영(Robot Research Initiative, Gwangju, Korea ) | Seong Young Ko Corresponding author