Modelagem e análise de frequências de manipuladores paralelos acionados por cabos

Abstract

Cable-Driven Parallel Manipulators (CDPRs) are an innovative class of robots that use cables instead of rigid links, offering high dynamics, load capacity, and flexibility. This work addresses the modeling and analysis of the natural frequencies of CDPRs, aiming to prevent resonance issues that can compromise the precision and operational efficiency of these systems. The developed methodology includes the mathematical modeling of CDPRs and the analysis of natural frequencies with variations in cable tension and end- effector position. The results indicate that system rigidity, and consequently the natural frequencies, are highly influenced by cable tension, especially in higher vibration modes, which showed greater sensitivity to positional changes compared to lower modes. The research demonstrated that increasing the minimum tension in the cables can reduce the risk of resonance, providing greater stability to the system. This study contributes to a better understanding of the dynamics of CDPRs and suggests control strategies for safe and efficient applications in fields such as astronomy, logistics, and medical rehabilitation.