Analysis of the Stiffness Feasible Workspace of the Cable-Driven Parallel Robots
| Autor: | Javad Bolboli, Mohammad A. Khosravi, Farzaneh Abdollahi |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Computer science MathematicsofComputing_NUMERICALANALYSIS Parallel manipulator Stiffness 02 engineering and technology Workspace Robot end effector law.invention Computer Science::Robotics 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine law Control theory 030220 oncology & carcinogenesis medicine Robot medicine.symptom Wrench Actuator ComputingMethodologies_COMPUTERGRAPHICS Stiffness matrix |
| Zdroj: | 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM). |
| DOI: | 10.1109/icrom.2017.8466232 |
| Popis: | In this paper stiffness of the cable-driven parallel robot is analyzed and then the concept of the stiffness-feasible workspace is presented based on internal forces. Analysis of wrench closure workspace and stiffness matrix for determined values of internal forces in all over of the fixed frame will determine this workspace. The proposed approach gives a range of internal forces that can improve the stiffness of the robot. Since the proposed workspace depends on the structure of robot, geometrical parameters of the robot are optimally designed to maximize stiffness-feasible workspace and wrench closure workspace. At the end, simulation results on a planar cable robot are presented to verify operation of the robot in the stiffness-feasible workspace by designed geometrical parameters. |
| Databáze: | OpenAIRE |
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