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http://hdl.handle.net/10397/94537
Title: | Analysis and multi-objective optimal design of a planar differentially driven cable parallel robot | Authors: | Wang, R Li, Y |
Issue Date: | Dec-2021 | Source: | Robotica, Dec. 2021, v. 39, no. 12, p. 2193-2209 | Abstract: | In this work, a planar cable parallel robot (CPR) driven by four cable-and-pulley differentials is proposed and analyzed. A new cable-and-pulley differential is designed by adding an extra pulley to eliminate the modeling inaccuracies due to the pulley radius and obviate the need of solving the complex model which considers the pulley kinematics. The design parameters of the proposed CPR are determined through multi-objective optimal design for the largest total orientation wrench closure workspace (TOWCW) and the highest global stiffness magnitude index. The proposed differentially driven CPR is evaluated by comparing various performance indices with a fully actuated CPR. | Keywords: | Cable parallel robot Cable-and-pulley differential Kinematics Multi-objective optimal design Statics |
Publisher: | Cambridge University Press | Journal: | Robotica | ISSN: | 0263-5747 | EISSN: | 1469-8668 | DOI: | 10.1017/S0263574721000266 | Rights: | This article has been published in a revised form in Robotica [https://doi.org/10.1017/S0263574721000266]. This version is free to view and download for private research and study only. Not for re-distribution or re-use. © The Author(s), 2021. Published by Cambridge University Press. When citing an Accepted Manuscript or an earlier version of an article, the Cambridge University Press requests that readers also cite the Version of Record with a DOI link. The article is subsequently published in revised form in Robotica, https://doi.org/10.1017/S0263574721000266. |
Appears in Collections: | Journal/Magazine Article |
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Wang_Analysis_Multi-Objective_Optimal.pdf | Pre-Published version | 2.28 MB | Adobe PDF | View/Open |
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