Natural Oscillations of Under-Actuated Cable-Driven Parallel Robots - Complete Experiments Data
Under-Actuated Cable-Driven Parallel Robots (UACDPRs) employ a number of extendable cables smaller than the degrees of freedom (Dofs) of the end-effector (EE) that they control. As a consequence, the EE is under-constrained and preserves some freedoms, even in case all actuators are locked, which may lead to undesirable oscillations. These datasets are associated with a paper which is proposing a methodology for the computation of the EE natural oscillation frequencies, whose knowledge has proven to be convenient for control purposes. This procedure, based on the linearization of the system internal dynamics about an equilibrium configuration, can be applied to a generic robot suspended by any number of cables comprised between 2 and 5. The validity of the proposed method is demonstrated by experiments on 6-\dof prototype suspended by 2, 3, and 4 cables.
These datasets are intended as supplementary material for the authors' study on natural frequency computation of Under-Actuated Cable-Driven Parallel Robots.
Tables provide the EE static configuration, the corresponding cable lengths, the array of modeled natural frequencies, the array of experimental natural frequencies, the standard deviation obtained in experimental frequency determination, and finally the relative estimation error between experimental and modeled natural frequencies. Table I is dedicated to a 4-cable UACDPR, Table II to a 3-cable UACDPR and Table III to a 2-cable UACDPR.