Abstract
In this paper, an overconstrained cable-driven parallel robot with 8 cables and 6 DOFs is used for the execution of 3D-picking tasks with high dynamics. The main objective of the manipulator is the feeding of an automatic packaging machine by picking low-weight products from a pile. In particular, here, we study the optimal geometric design of the robot platform based on its task and using a genetic algorithm.
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Acknowledgments
This work was supported by Marchesini Group S.p.A., a leading company in the field of automatic packaging machines, especially for pharmaceutical and cosmetic products.
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Guagliumi, L., Berti, A., Monti, E., Carricato, M. (2022). Design Optimization of a 6-DOF Cable-Driven Parallel Robot for Complex Pick-and-Place Tasks. In: Kecskeméthy, A., Parenti-Castelli, V. (eds) ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022. CISM International Centre for Mechanical Sciences, vol 606. Springer, Cham. https://doi.org/10.1007/978-3-031-06409-8_30
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DOI: https://doi.org/10.1007/978-3-031-06409-8_30
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