Planar Model for Vibration Analysis of Cable Rehabilitation Robots

Zuccon, Giacomo; Doria, Alberto; Bottin, Matteo; Rosati, Giulio

doi:10.3390/robotics11060154

Cited by 6 publications

(8 citation statements)

References 38 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The natural frequencies and the modes of vibration of this model are calculated solving the eigenvalue problem. The first mode is a pendulum mode of the whole system, whereas the second and third modes are the hook modes dominated by the transverse vibrations of the hook; they are similar to the modes found in [36] where a 5 DOF model of the free vibrations of a cable robot was developed.…”

Section: Transverse Vibration Due To Robot Arm Motionsupporting

confidence: 71%

“…Then, accordingly to the flowchart in Fig. 3, the model was extended considering two and three cables [36], but, in agreement with the results obtained with the single model, the moments of inertia of the pulleys were neglected.…”

Section: Models For the Analysis Of Vibrations Of Cable Robots With H...mentioning

confidence: 99%

“…The last results actually confirmed and extended the results obtained by means of the single cable model. Then, some assumptions were made and the planar model of [36] was extended to study the free vibrations of a 3D symmetric system.

Figure 4. Planar model of the four-bar linkage with elongations and rotations of links. …”

Section: Models For the Analysis Of Vibrations Of Cable Robots With H...mentioning

confidence: 99%

“…Finally, the Maribot is a 3-cable robot, but the behavior of a 3-cable robot can be studied by considering solely two cables [36]. As a result, and used in the following simulations will be considered as of the values of Table II, since only of the effect of the arm on the orthosis is supported by two cables.…”

Section: Models For the Analysis Of Vibrations Of Cable Robots With H...mentioning

confidence: 99%

See 3 more Smart Citations

Vibrations of cable-suspended rehabilitation robots

Zuccon,

Doria,

Bottin

et al. 2023

Robotica

Self Cite

View full text Add to dashboard Cite

Rehabilitation robots help the treatment of diseases by performing cyclic exercises for a long period of time. These exercises must perform movements of the patient’s limbs; thus, the robots are required to be flexible and safe. Among rehabilitation robots, cable robots are widely used due to their unique properties, such as being lightweight and the possibility of being equipped with magnetic hooks to improve both safety and ease of use. However, the elasticity and flexibility of cables result in vibrations of the payload and hooks. In this paper, the forced vibrations due to rehabilitation exercises are studied. Since the previous studies of the authors showed a weak coupling between longitudinal and transverse vibrations, a two-cable planar model for the study of transverse vibrations is developed. The model makes it possible to study the forced transverse vibrations due to both cable motion and robot motion. Stiffness and damping of the patient’s arm are considered. Results show that the cable system exhibits a simple linear behavior when excited by robot motion and a non-linear behavior when excited by cable motion.

show abstract

Section: Transverse Vibration Due To Robot Arm Motionsupporting

confidence: 71%

Section: Models For the Analysis Of Vibrations Of Cable Robots With H...mentioning

confidence: 99%

Figure 4. Planar model of the four-bar linkage with elongations and rotations of links. …”

Section: Models For the Analysis Of Vibrations Of Cable Robots With H...mentioning

confidence: 99%

Section: Models For the Analysis Of Vibrations Of Cable Robots With H...mentioning

confidence: 99%

See 2 more Smart Citations

Vibrations of cable-suspended rehabilitation robots

Zuccon,

Doria,

Bottin

et al. 2023

Robotica

Self Cite

View full text Add to dashboard Cite

show abstract

“…Last but not least is the most dangerous manifestation, an earthquake. One soon realizes that vibrations need to be understood, and their principles found and proven [ 1 , 2 ].…”

Section: Introductionmentioning

confidence: 99%

Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I

Černohlávek

Klimenda

Houska

et al. 2023

Sensors

View full text Add to dashboard Cite

This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. The boundary conditions were related to the velocities of the joints and the load on the robotic arm. The second part of the article is an evaluation of the initial experimental results. So far, only the acceleration of the sixth joint of the robotic arm—Wrist 3—has been measured. The aim of the measurements was to verify if the methodology presented can be used for vibration measurements. From the evaluation of the experimental measurements, it was determined that the given methodology can be used for vibration measurements. It was also found that the acceleration is transmitted in the axes other than the axis of motion of the robotic arm. In future experiments, the vibration at the other joints of the robotic arm will be measured and the noise of the robotic arm will be measured to confirm whether the proposed methodology is indeed functional.

show abstract

A sensorless approach for cable failure detection and identification in cable-driven parallel robots

Boschetti,

Minto

2025

Robotics and Autonomous Systems

View full text Add to dashboard Cite

Planar Model for Vibration Analysis of Cable Rehabilitation Robots

Cited by 6 publications

References 38 publications

Vibrations of cable-suspended rehabilitation robots

Vibrations of cable-suspended rehabilitation robots

Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I

A sensorless approach for cable failure detection and identification in cable-driven parallel robots

Contact Info

Product

Resources

About