Impact of Tuned Mass Dampers and Electromagnetic Tuned Mass Dampers on Geometrically Nonlinear Vibrations Reduction of Planar Cable Robots

Table 1

Dynamic system parameters.

Parameters	Description	Values	Units
First degree of freedom (end effector)
	End effector mass	0.5225	kg
	Mass-air friction coefficient	0.0031	N/(m/s)
	Cable spring constant	25000	N/m
	Viscous coefficient of friction of the cable	90	N/(m/s)
	Extra tension due to weight of 1st dof	3.4	N
	Original length of cables	1.06	M
	Pretension in the cables	10	N
Second degree of freedom (damper mass)
	Damper mass	0.067	kg
	Spring constant in damper	12	N/m
	Viscous coefficient of friction of the damper	0.4	N/(m/s)
	Dry friction coefficient of the damper	0.1	Dimensionless
	Electromechanical coupling coefficient	2.65	V/(m/s)
	Coil electrical resistance	85.15	Ω
	Electric load resistance	20	Ω