This paper presents simulation and optimization of a 3-D three cable driven manipulator. For some specific paths in the workspace volume, motions of the robot before optimization are simulated and tension in the cables and stiffness of the cable robot for various points on the paths are determined. By selecting a function which is related to the stiffness matrix of the robot and considering it as the objective function of genetic algorithm, vertical positions of the connection points on the base platform as the optimization variables for each point on the paths can be determined in a way that the related function of the robot is optimized and a tension reduction in all the cables can be observed for most of the paths. Finally, the results of using different kinds of objective functions derived from the stiffness matrix are presented for three different criteria: workspace volume, kinematic performance indices and actuating energy of the robot. The results indicate which function has the largest workspace volume with tension reduction property in all the three cables, which has the highest values for the kinematic performance indices and which has the lowest actuating energy.
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ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 12–15, 2012
Chicago, Illinois, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-4503-5
PROCEEDINGS PAPER
Design Optimization of a 3-D Three Cable Driven Manipulator Available to Purchase
Arian Bahrami,
Arian Bahrami
University of Tehran, Tehran, Iran
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Behnam Aghbali,
Behnam Aghbali
University of Tehran, Tehran, Iran
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Mansour Nikkhah Bahrami
Mansour Nikkhah Bahrami
University of Tehran, Tehran, Iran
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Arian Bahrami
University of Tehran, Tehran, Iran
Behnam Aghbali
University of Tehran, Tehran, Iran
Mansour Nikkhah Bahrami
University of Tehran, Tehran, Iran
Paper No:
DETC2012-70195, pp. 753-761; 9 pages
Published Online:
September 9, 2013
Citation
Bahrami, A, Aghbali, B, & Bahrami, MN. "Design Optimization of a 3-D Three Cable Driven Manipulator." Proceedings of the ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B. Chicago, Illinois, USA. August 12–15, 2012. pp. 753-761. ASME. https://doi.org/10.1115/DETC2012-70195
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