Abstract
This paper presents the static equilibrium workspace of an under-constrained cable-driven robot with four cables taking into account the forces and the moments due to the forces acting on the moving platform. The problem is formulated as a non-linear optimization problem with maintaining static equilibrium as the objective function. The simulations are done using MATLAB. The maximum force on the cables and tilting angle of the platform are used to define the feasible static equilibrium workspace and the results obtained are used to finalize the design of the collaborative cable-driven robot to be installed in existing production lines for the agile handling of parts in a manufacturing industry.
We would like to thank the Robotix Academy for funding this work as a part of the project funded by INTERREG V-A Grand Region program.
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© 2019 CISM International Centre for Mechanical Sciences
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Kumar, A.A., Antoine, JF., Zattarin, P., Abba, G. (2019). Workspace Analysis of a 4 Cable-Driven Spatial Parallel Robot. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_27
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DOI: https://doi.org/10.1007/978-3-319-78963-7_27
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