Configuration Selection and Vibration Analysis of Double Layer Suspended Cable-Driven Parallel Robot for Intelligent Storage System

Warehousing system plays an increasingly important role in the development of industry. However, the traditional warehousing system has the disadvantages of low efficiency, large space occupation and high maintenance difficulty, which has been unable to meet the needs of economic and social development. The demand for high efficiency and high stability intelligent storage system is more and more urgent. With the characteristics of large workspace and strong flexibility, suspended cable-driven parallel robot has great application potential in the field of intelligent storage. In this paper, the foundation of a two-layer suspended cable-driven parallel robot was proposed to meet the requirements of intelligent storage. Based on this foundation, a double layer suspended cable-driven parallel robot was established. The kinematics model of the double layer suspended cable-driven parallel robot was established, and the cable length curve in a motion period was obtained. Based on Hamilton's principle, the vibration model of the double layer suspended cable-driven parallel robot was established. The motion and vibration characteristics of the robot were analyzed in ADAMS, and the vibration law of the system was obtained.