Abstract
In this paper, a new type of planar cable-driven parallel robot with parallelogram links is investigated. In such a design, the cables pass through multiple pulleys in order to make parallelogram links, instead of directly connecting to the moving platform. By using such configuration, one can greatly improve the robot kinematic performance without adding the cost of extra actuators. In this paper a multi objective optimization method is presented for this type of cable-driven robot using various kinematic indices. To this end, two planar robot configurations with parallelogram links are first introduced and the kinematic formulations are presented. Then, based on well-known kinematic indices like the size of the wrench closure workspace, the dexterity and the natural frequency, the optimal Pareto front of the design parameters is obtained. Finally, the above procedure is applied to the design of a planar cable-driven parallel robot and the optimal design is presented.
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Khodadadi, N., Hosseini, M.I., Khalilpour, S.A., Taghirad, H.D., Cardou, P. (2021). Multi Objective Optimization of a Cable-Driven Robot with Parallelogram Links. In: Gouttefarde, M., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. CableCon 2021. Mechanisms and Machine Science, vol 104. Springer, Cham. https://doi.org/10.1007/978-3-030-75789-2_14
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DOI: https://doi.org/10.1007/978-3-030-75789-2_14
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