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Active damping methods to suppress the payload swing by a 3-degree of freedom cable-driven parallel robot |
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| Authors: | Shenghai Wang Guoliang Jin Jian Li Zhaopeng Ren Haiquan Chen Yuqing Sun |
| Affiliation: | 1. College of Marine Engineering, Dalian Maritime University, Dalian, China;2. College of Marine Engineering, Dalian Maritime University, Dalian, China Contribution: Writing - original draft, Writing - review & editing;3. College of Marine Engineering, Dalian Maritime University, Dalian, China Contribution: Software, Writing - review & editing;4. College of Marine Engineering, Dalian Maritime University, Dalian, China Contribution: Writing - original draft;5. College of Marine Engineering, Dalian Maritime University, Dalian, China National Center for International Research of Subsea Engineering Technology and Equipment, Dalian Maritime University, Dalian, China Contribution: Formal analysis, Methodology, Resources, Validation;6. College of Marine Engineering, Dalian Maritime University, Dalian, China National Center for International Research of Subsea Engineering Technology and Equipment, Dalian Maritime University, Dalian, China Contribution: Formal analysis, Funding acquisition, Resources |
| Abstract: | Marine cranes play an important role in many hoisting scenes. However, due to the ship motion excitation and crane operation, the payload swing is unavoidable, hence putting the operators in danger. Thus, this paper proposes two active damping methods to suppress the payload swing by a 3-DOF cable-driven parallel robot (CDPR). First, the structure of the 3-DOF CDPR is briefly introduced. Then, the dynamic model of the system is modeled as a constrained spherical pendulum with moving base excitations. Meanwhile, inspired by the air damping phenomenon, two active damping methods are presented to damp the payload swing naturally and smoothly. Furthermore, the payload swing under ship motion excitation and external hitting disturbances is analyzed, the influence mechanism of system damping parameters on the payload anti-swing is discussed, and the robustness of the proposed damping methods is verified. By theoretical analysis and numerical simulations, some interesting discoveries are revealed: (1) the proposed damping methods can effectively suppress the big offset of payload swing angle inducing by external hitting disturbance, but the system might reach a dynamic equilibrium with a tilting hoist cable; (2) the phenomenon of “off-center spherical pendulation” might be induced by improper setting of the damping parameters. |
| Keywords: | active damping cable-driven parallel robot crane operations payload swing suppression |