| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 6868294 | Robotics and Computer-Integrated Manufacturing | 2014 | 7 Pages |
Abstract
To improve the mechanical structure of cable-driven parallel manipulators (CDPMs), this paper optimizes the distribution of winches on the fixed platform and hinges on the moving platform by maximizing the total orientation wrench-feasible workspace (WFW). A convex analysis method is developed to estimate the total orientation WFW of CDPMs. The effect of the distribution of winches and hinges on the WFW is investigated for spatial 6-DOF redundantly restrained CDPMs, and the optimal size of the CDPMs can be obtained by the grouped coordinate descent (GCD) method. The optimization algorithm is implemented on a 6-DOF spatial CDPM with eight cables. The simulation results indicate that the mechanical property of CDPMs can be improved by optimizing the distribution of winches and hinges.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Bo Ouyang, Weiwei Shang,