Dynamic responses of cable-driven parallel sinking platform

The dynamic responses of cable-driven parallel sinking platform are investigated considering the longitudinal-torsional coupled characteristics of the cable. The dynamic equations of the system are derived through the Lagrange equations, and the geometric matching conditions and the constraint forces at the interfaces between the cables and the platform have also been considered in the equations through Lagrangian multipliers. By neglecting the slack state of the cable, the numerical results of the mathematical model are obtained through Newmark-beta method after transforming the derived differential algebraic equations (DAEs) to a system of ordinary differential equations (ODEs). An ADAMS simulation is carried out, and the ADAMS simulation results agree well with the results obtained through Newmark-beta method. The results have shown that the lateral characteristics of the cables have a great effect on the torsional vibration of the platform, and by arranging the cables correctly will help to reduce the rotation of the platform.