Experimental study of a cable-driven suspended platform

摘要

We present the design of an experimental prototype cable-driven suspended platform for robotic applications, and the feasibility of using this platform in certain industrial applications is considered. In order to study and improve dynamic stability, the point-to-point motion of the platform is observed and analyzed in a laboratory environment. To focus the study, the domain of experiments is restricted to only two-dimensional space. At the starting point, or departure, the platform displays a lag and at the destination, or terminal point, the platform has a significant overshoot which causes a large settling time. Certain methods are suggested and implemented for damping the oscillation and decreasing the settling time. In the three-dimensional domain, two experiments are performed: one experiment is devoted to drilling holes in a piece of wood and another to loosening a nut.