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

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

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

Abstract: 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.

Keywords: Cable Robot, Redundant Parallel Manipulator, Kinematics Analysis, Optimal Design.

Conference: ICRoM, IEEE.

 

Place: 
ICRoM, IEEE
Date: 
2015