Vibration is one of the problems that limits the applications of cable driven parallel robots (CDPR). The problem is bigger in CDPR with planar configuration due to the presence of out-of-plane vibrations, which have a larger amplitude and settling time. Some authors have proposed solutions such as the increase in tension of the wires, increase in the end effector mass, or the use of active dampers. In this research, we investigated the performance of tuned mass dampers (TMD) and electromagnetic tuned mass dampers (ETMD) which are integrated in the end effector of a CDPR in a planar configuration with eight wires. The essential idea is to reduce the settling time of the end effector through free vibrations without the use of external energy. This research followed an analytical and experimental methodology with the following steps. Three mathematical models were formulated and analysed using numerical simulations. Then, a test bench to validate the analytical results was designed and built. The effectiveness of the dampers was evaluated by comparing the settling times of the following three cases: without damper, with TMD, and with ETMD. During the investigation, it was observed that the use of AMS can reduce the settling time using the appropriate parameters. The effectiveness of AEMS is highly dependent on frictions and can be effective in some scenarios. Reductions in settling time from marginal values to 95% can be obtained. This research implies a viable solution for the out-of-plane vibrations of planar CDPR.

Preserving art and heritage objects is essential to comprehend multiple aspects of the development of societies. When submitted to mechanical vibrations, there is little knowledge about these objects’ behavior and consequences. In this paper, a methodology for the design of a shaking machine and its development with a conservation perspective is explored. An artificial vision technique to measure overall shaking in a complex flexible object is also developed. It is concluded that the machine could establish a relation between the induced vibration level enforced on the test subject with the shaking level exhibited by these subjects. Further application of this technology can help conservationists make informed decisions concerning maneuvers and the exhibition of art objects.

The preservation of historical documents is a task that requires a multidisciplinary team. Mechanical engineering can make valuable contributions. Historical documents made of paper have unique characteristics that must be considered for their preservation and exhibition. Specially designed encasements have emerged as a solution to meet these requirements. In the present research, a comparative design study was carried out. The study comprises identifying the main functions of the encasements. Subsequently, it is analyzed how the capsules that appear in the literature have solved these functions. With the information obtained, three new encasements were designed for historical documents in Mexico. From the results and design experiences, some insights and design principles were obtained; these can be universally applied.

Braided steel cables have the potential for improving the mechanisms providing them several advantages in comparison with rigid elements. Nevertheless, a limitation in the use of cable mechanism is that due to the inherent flexibility, the problem of vibration arises. In this research, we investigate the axial viscoelastic behavior of 1/32 '' braided steel cables. The essential idea is to determine the parameters of elasticity (k) and viscosity (b) as a function of the length of the cable in its axial direction. It was achieved through the design and construction of a test bench and the design of an experiment. The test bench is a free vibration particular design machine. One end of the cable is fixed to the structure, and in the other end, a load is attached. Then, the load is released, and the free vibration of the cable in the axial direction is registered. The factor of the experiment is the length of the cable. There are six levels, and these were repeated four times. We demonstrated that the braided steel cables have a viscoelastic behavior like a Kelvin-Voigt. Also, we found a relation between the effective length of the cables and the parameters of elasticity and viscosity.

In this investigation the concept of the cablebased tuned mass damper (CB-TMD) is presented. This is an oscillator that presents geometric nonlinearities and has peculiar characteristics of elasticity and energy dissipation. Through numerical simulations and experimental procedures, it is evaluated as an attenuator of free vibrations and forced vibrations. It was found that this shock absorber does not have a good performance in reducing the settling time of free vibrations; however, it can reduce the amplitude of forced vibration in a range of frequencies.

The out of plane free vibrations of planar parallel cable robots possess a long duration, this is a problem for applications that require a fast settling time, which corresponds to the time necessary for the vibration to stop. We evaluated the effectiveness of a tuned mass damper (TMD) as a solution to minimize the settling time of these nonlinear vibrations. This paper presents a dynamical model of a two degree of freedom nonlinear mechanical system. Using this model, a numerical search was conducted to identify the optimal set of design parameters. During our investigations, it was observed that with an optimized tuned mass damper reductions of 96.51% of the settling time in the best case can be achieved and that the effectiveness of this optimized TMD is relatively homogeneous in the workspace with the exception of the workspace corners.