Title of article
Modeling and Wrench Feasible Workspace Analysis of a Cable Suspended Robot for Heavy Loads Handling
Author/Authors
Hamedi, J islamic azad university - Science and Research Branch - Department of Mechanical Engineering, ايران , Zohoor, H sharif university of technology - School of Mechanical Engineering - Center of Excellence in Design , Robotics and Automation, تهران, ايران
From page
29
To page
48
Abstract
Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied wrenches (forces/moments) on the robot. The results show that enlarging the size of fixed platform, increasing vertical payload, reducing applied lateral forces and elimination of applied moments on moving platform,cause expansion of workspaces volumes for the purpose of heavy loads handling.
Keywords
cable suspended robot , wrench , workspace , modeling , heavy loads handling
Journal title
Iranian Journal of Mechanical Engineering Transactions of the ISME
Journal title
Iranian Journal of Mechanical Engineering Transactions of the ISME
Record number
2670811
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