Analysis and multi-objective optimal design of a planar differentially driven cable parallel robot

Ruobing Wang, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

6 Citations (Scopus)

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.
Original languageEnglish
Pages (from-to)2193-2209
Number of pages17
JournalRobotica
Volume39
Issue number12
DOIs
Publication statusPublished - 4 Dec 2021

Keywords

  • Cable parallel robot
  • Cable-and-pulley differential
  • Kinematics
  • Multi-objective optimal design
  • Statics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications

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