Cable-driven parallel robots (CDPRs) are vulnerable to vibration due to the inevitable flexible properties of the cables. Thus, vibration analysis is critical for CDPR’s operation in which highly accurate motion is required. However, most of the current methods related to vibration analysis of CDPRs rely on simple spring models which have limitations in their performance and complexity that are not general to analyze the vibration of various CDPRs. Hence, accurate, simple and general approaches for vibration analysis in CDPRs are need. To solve this problem, this paper presents the finite element method (FEM) and the modified analytical method to analyze the vibration of CDPRs. To validate these methods, free vibration analysis was conducted using the proposed methods for the planar and spatial cable-driven parallel robots. The natural frequencies of these two CDPRs were computed by the proposed two methods and compared with those of the commercial software, SAP2000. The solutions obtained by the FEM and the modified analytical models turned out to be close to SAP2000’s results, thereby verifying the validity of the proposed methods.

电缆驱动的并行机器人（CDPR）由于电缆不可避免的柔性特性而容易受到振动的影响。因此，振动分析对于CDPR的操作至关重要，因为CDPR要求高精度的运动。但是，当前与CDPR振动分析有关的大多数方法都依赖于简单的弹簧模型，这些模型在性能和复杂性方面具有局限性，而这些条件对于分析各种CDPR的振动并不普遍。因此，需要精确，简单和通用的CDPR振动分析方法。为了解决这个问题，本文提出了有限元方法（FEM）和改进的分析方法来分析CDPR的振动。为了验证这些方法，使用提出的方法对平面和空间电缆驱动的并行机器人进行了自由振动分析。这两种CDPR的固有频率是通过提出的两种方法计算出的，并与商业软件SAP2000的固有频率进行了比较。有限元法和改进的分析模型所获得的解决方案与SAP2000的结果非常接近，从而验证了所提出方法的有效性。