Design Optimization of a 3-D Three Cable Driven Manipulator

Bahrami, Arian; Aghbali, Behnam; Bahrami, Mohammad

doi:10.1115/detc2012-70195

Cited by 4 publications

(3 citation statements)

References 11 publications

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“…Moreover, the design optimization schemes of spatial cable robots are displayed in previous studies. 22–26 The obtained results are useful in designing such spatial cable–driven robots under different conditions. However, the main drawbacks of such device are lack of mobility and need large space for installation.…”

Section: Introductionmentioning

confidence: 93%

“…The previous literature for kinematic, 2,5,10–26 dynamic modeling, stability, and control 1,4,27–31 of parallel cable-driven robotic systems is vast. In general, CSRs contain an end-effector and a number of acting cables connected to the end-effector, whereas the cable drivers are usually mounted on the base and not on the mobile platform.…”

Section: Introductionmentioning

confidence: 99%

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A modularized cable-suspended robot: Implementation and oscillation suppression control

Lin

Liao

2016

Proceedings of the Institution of Mechanical Engineers, Part I:

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Cable-suspended robots are categorized as a style of parallel manipulator that has appealed interest for manipulation jobs. This article presents a design for a cable-suspended robot system with oscillation suppression control. The major benefits of the system design are as follows: modular, transportable, reconfigurable, and easy to install. This robotic system consists of the main object, which is a suspended platform and a cable winch that maneuvers the main object by regulating cable lengths. Furthermore, this study presents a combined control module to serve as an associate controller to stabilize the system. The associate controller positions and oscillates the suppression properties by integration feedback control with the shaping signals. The fuzzy controller is rule based and constructed based on associate controller performance-related knowledge to act as a controller. Accordingly, the proposed control scheme effectively reduces cable oscillation, especially when fuzzy control methodology is applied. The broad variety of problems deliberated in this study can be applied to assembly, automation, and large-scale manufacturing that requires a cable-suspended system.

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Section: Introductionmentioning

confidence: 93%

Section: Introductionmentioning

confidence: 99%

A modularized cable-suspended robot: Implementation and oscillation suppression control

Lin

Liao

2016

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Standard GA is performed to maximize the stiffness or minimize the cable tension in the desired workspace, or to maximize the workspace. [83][84][85][86][87] The GA has been evaluated through combining with other algorithms to pursue global optimal solutions or accelerate the convergence. Jamwal and Hussain 88 proposes a biased fuzzy sorting genetic algorithm (BFSGA) based on the fuzzy sorting genetic algorithm (FSGA).…”

Section: Workpace Analysis and Optimal Designmentioning

confidence: 99%

A review on topological architecture and design methods of cable-driven mechanism

Hong

Jabran

Ren

2018

Advances in Mechanical Engineering

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Research on the cable-driven mechanism has greatly developed with the booming of the robots in the past 30 years, and a range of corresponding theoretical studies have been published on them. The large-scale robot or manipulator with the complex cable-driven mechanism can be reconfigured. However, more theoretical studies are required on their topological architecture design and optimization to achieve this. Therefore, the applied cable-driven architectures and the corresponding theoretical studies are reviewed and summarized here. The parallel, serial, and differential architecture are illustrated, as well as their theories and methods, such as the workspace analysis based on the Jacobian matrix, particle swarm optimization and genetic algorithm, and kinematic design based on the graph theory are described. The features of the architecture and the theory studies are concluded. It is hoped that this study will help with design of future studies.

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Optimal Design of Cable-Driven Manipulators Using Particle Swarm Optimization

Bryson

Jin

Agrawal

2016

Journal of Mechanisms and Robotics

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The design of cable-driven manipulators is complicated by the unidirectional nature of the cables, which results in extra actuators and limited workspaces. Furthermore, the particular arrangement of the cables and the geometry of the robot pose have a significant effect on the cable tension required to effect a desired joint torque. For a sufficiently complex robot, the identification of a satisfactory cable architecture can be difficult and can result in multiply redundant actuators and performance limitations based on workspace size and cable tensions. This work leverages previous research into the workspace analysis of cable systems combined with stochastic optimization to develop a generalized methodology for designing optimized cable routings for a given robot and desired task. A cable-driven robot leg performing a walking-gait motion is used as a motivating example to illustrate the methodology application. The components of the methodology are described, and the process is applied to the example problem. An optimal cable routing is identified, which provides the necessary controllable workspace to perform the desired task and enables the robot to perform that task with minimal cable tensions. A robot leg is constructed according to this routing and used to validate the theoretical model and to demonstrate the effectiveness of the resulting cable architecture.

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Design Optimization of a 3-D Three Cable Driven Manipulator

Cited by 4 publications

References 11 publications

A modularized cable-suspended robot: Implementation and oscillation suppression control

A modularized cable-suspended robot: Implementation and oscillation suppression control

A review on topological architecture and design methods of cable-driven mechanism

Optimal Design of Cable-Driven Manipulators Using Particle Swarm Optimization

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