DETERMINING MAXIMUM DYNAMIC LOAD CARRYING CAPACITY OF CABLE ROBOTS BETWEEN TWO END POINTS OF WORKSPACE

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HABIBNEZHAD KOURAYEM M.; NAJAFI KH.; BAMDAD M.

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Journal: INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY Year:2009 | Volume:3 | Issue:1 (9) Page(s): 31-40

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Title

DETERMINING MAXIMUM DYNAMIC LOAD CARRYING CAPACITY OF CABLE ROBOTS BETWEEN TWO END POINTS OF WORKSPACE

Author(s)

HABIBNEZHAD KOURAYEM M. | NAJAFI KH. | BAMDAD M. | Issue Writer Certificate

Keywords

CABLE DRIVEN ROBOTSQ3

DYNAMIC LOAD CARRYING CAPACITYQ2

OPTIMAL TRAJECTORY PLANNINGQ3

Abstract

In this paper, according to high load capacity and rather large workspace characteristics of CABLE DRIVEN ROBOTS (CDRs), maximum DYNAMIC LOAD CARRYING CAPACITY (DLCC) between two given end points in the workspace along with optimal trajectory is obtained. In order to find DLCC of CDRs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are considered. The problem is formulated as a trajectory optimization problem, which is fundamentally a constrained nonlinear optimization problem. Then the iterative linear programming (ILP) method is used to solve the optimization problem. Finally, a numerical example involving a 6 DOF CDR is presented and results are discussed.

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APA: Copy

HABIBNEZHAD KOURAYEM, M., NAJAFI, KH., & BAMDAD, M.. (2009). DETERMINING MAXIMUM DYNAMIC LOAD CARRYING CAPACITY OF CABLE ROBOTS BETWEEN TWO END POINTS OF WORKSPACE. INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY, 3(1 (9)), 31-40. SID. https://sid.ir/paper/172397/en

Vancouver: Copy

HABIBNEZHAD KOURAYEM M., NAJAFI KH., BAMDAD M.. DETERMINING MAXIMUM DYNAMIC LOAD CARRYING CAPACITY OF CABLE ROBOTS BETWEEN TWO END POINTS OF WORKSPACE. INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY[Internet]. 2009;3(1 (9)):31-40. Available from: https://sid.ir/paper/172397/en

IEEE: Copy

M. HABIBNEZHAD KOURAYEM, KH. NAJAFI, and M. BAMDAD, “DETERMINING MAXIMUM DYNAMIC LOAD CARRYING CAPACITY OF CABLE ROBOTS BETWEEN TWO END POINTS OF WORKSPACE,” INTERNATIONAL JOURNAL OF ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY, vol. 3, no. 1 (9), pp. 31–40, 2009, [Online]. Available: https://sid.ir/paper/172397/en

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