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Analysis and multi-objective optimal design of a planar differentially driven cable parallel robot

Published online by Cambridge University Press:  04 May 2021

Ruobing Wang  and
Yangmin Li Open the ORCID record for Yangmin Li [Opens in a new window]
Ruobing Wang
Affiliation:
Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China E-mail: ruobing.wang@connect.polyu.hk
Yangmin Li*
Affiliation:
Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong SAR, China E-mail: ruobing.wang@connect.polyu.hk
*
*Corresponding author. Email: yangmin.li@polyu.edu.hk
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Abstract

In this work, a planar cable parallel robot (CPR) driven by four cable-and-pulley differentials is proposed and analyzed. A new cable-and-pulley differential is designed by adding an extra pulley to eliminate the modeling inaccuracies due to the pulley radius and obviate the need of solving the complex model which considers the pulley kinematics. The design parameters of the proposed CPR are determined through multi-objective optimal design for the largest total orientation wrench closure workspace (TOWCW) and the highest global stiffness magnitude index. The proposed differentially driven CPR is evaluated by comparing various performance indices with a fully actuated CPR.

Keywords

Cable parallel robotCable-and-pulley differentialKinematicsStaticsMulti-objective optimal design
Type
Article
Information
Robotica , Volume 39 , Issue 12 , December 2021 , pp. 2193 - 2209
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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