Multi-Criteria Design of 6-DoF Fully-Constrained Cable Driven Redundant Parallel Manipulator

Section: 
Publication
Subsection: 
Conference Paper
Place: 
In Robotics and Mechatronics (ICROM), 3rd RSI International Conference on, pp. 001-006, IEEE
Associate: 
A. Nasr
S.A.A. Moosavian
Date: 
2015/09/07

The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity measure, the kinematic sensitiv- ity, the stiffness and free collision workspace. Stiffness of the cable is also taken into consideration because of its effect on kinematic stiffness of moving platform manipulators performance. Points with cable collision, singular or actuator wrench infeasible con- figuration characteristic are eliminating from entire workspace.