Workspace Analysis and Optimal Design of Cable-Driven Parallel Robots via Auxiliary Counterbalances
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2020
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866917820512600064 |
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| author | Qi, Ronghuai Jamshidifar, Hamed Khajepour, Amir |
| author_facet | Qi, Ronghuai Jamshidifar, Hamed Khajepour, Amir |
| contents | Cable-driven parallel robots (CDPRs) are widely investigated and applied in the worldwide; however, traditional configurations make them to be limited in reaching their maximum workspace duo to constraints such as the maximum allowable tensions of cables. In this paper, we introduce auxiliary counterbalances to tackle this problem and focus on workspace analysis and optimal design of CDPRs with such systems. Besides, kinematics, dynamics, and parameters optimization formulas and algorithm are provided to maximize the reachable workspace of CDPRs. Case studies for different configurations are presented and discussed. Numerical results suggest the effectiveness of the aforementioned approaches, and the obtained parameters can also be applied for actual CDPRs design. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2012_12387 |
| institution | arXiv |
| publishDate | 2020 |
| record_format | arxiv |
| spellingShingle | Workspace Analysis and Optimal Design of Cable-Driven Parallel Robots via Auxiliary Counterbalances Qi, Ronghuai Jamshidifar, Hamed Khajepour, Amir Robotics Systems and Control Cable-driven parallel robots (CDPRs) are widely investigated and applied in the worldwide; however, traditional configurations make them to be limited in reaching their maximum workspace duo to constraints such as the maximum allowable tensions of cables. In this paper, we introduce auxiliary counterbalances to tackle this problem and focus on workspace analysis and optimal design of CDPRs with such systems. Besides, kinematics, dynamics, and parameters optimization formulas and algorithm are provided to maximize the reachable workspace of CDPRs. Case studies for different configurations are presented and discussed. Numerical results suggest the effectiveness of the aforementioned approaches, and the obtained parameters can also be applied for actual CDPRs design. |
| title | Workspace Analysis and Optimal Design of Cable-Driven Parallel Robots via Auxiliary Counterbalances |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2012.12387 |