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Designing, modeling and wrench feasible workspace analysis of a 3D cable suspended robot for heavy loads handling applications

Hamedi, J ; Sharif University of Technology | 2008

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  1. Type of Document: Article
  2. Publisher: 2008
  3. Abstract:
  4. The objective of this paper is designing, modeling and wrench feasible workspace analysis of a 3D cable suspended robot as IRPM (Incompletely Restrained Positioning Mechanism). This type of robots supports a load platform in space by less than or equal to six spatially arranged cables. We use the model of 6 cables spanned in the same manner as a Stewart parallel mechanism. This mechanism is suitable for the accurate positioning of heavy loads. Concentrating on the operations of heavy loads handling, studying the workspace and ways of increasing it is of high importance. Several workspaces exist amongst which the constant and total orientation statically reachable combined and wrench feasible workspaces at low speeds of moving platform plays an important role. After designing and modeling of robot, simulation on the basis of workspace is obtained, and then the ways of increasing of mentioned workspaces under applying of the several applied external wrenches (forces/moments) is discussed. These processes are accomplished by Matlab software. Results show that triangular platforms, to aggrandize size of base platform and to decrease of lateral applied forces and moments to Moving platform are ways to increase workspaces volumes in order to heavy loads handling applications
  5. Keywords:
  6. Applied forces ; Base platforms ; Cable suspended robot ; Feasible workspaces ; Heavy loads ; Matlab- software ; Moving platform ; Stewart parallel mechanism ; Cables ; MATLAB ; Robotics ; Three dimensional ; Tools ; Three dimensional computer graphics
  7. Source: 39th International Symposium on Robotics, ISR 2008, Seoul, 15 October 2008 through 17 October 2008 ; 2008 , Pages 934-939