MULTI-OBJECTIVE OPTIMIZATION DESIGN OF SPATIAL CABLE-DRIVEN PARALLEL ROBOT EQUIPPED WITH A SERIAL MANIPULATOR

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

NASR ALI; MOUSAVIAN SEYED ALI AKBAR

Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:1 Page(s): 29-40

Download Full-Text

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Persian Verion

View:

1,063

Download:

Cites:

Information Journal Paper

Title

MULTI-OBJECTIVE OPTIMIZATION DESIGN OF SPATIAL CABLE-DRIVEN PARALLEL ROBOT EQUIPPED WITH A SERIAL MANIPULATOR

Author(s)

NASR ALI | MOUSAVIAN SEYED ALI AKBAR | Issue Writer Certificate

Keywords

HYBRID PARALLEL SERIAL ROBOTQ1

SPATIAL CABLE-DRIVEN PARALLEL ROBOTQ1

MULTI-OBJECTIVE OPTIMIZATION DESIGNQ2

NON-COLLISION WORKSPACEQ1

Abstract

Cable-Driven Parallel Robot has many advantages. However, the problems of cable collision between each other and environment, the lack of proper structure and non-positive cable tension prevent the spread of them. Therefore, connecting a serial manipulator to mobile platform improves the ability of object manipulation. This paper investigates the multi-objective optimization structure design and comparative study of spatial constrained and suspended cable-driven parallel robot. Installed serial manipulators possess a full hybrid robot’s features. The workspace volume, kinematic stiffness and sensitivity are three sets of optimization criteria. The workspace volume is calculated by a novel approach of combination constraints to prevent cables colliding with each other, cable collision with moving platform, uncontrollability and singularity of the robot. First, the range of forces and torque reaction of the serial manipulator to moving platform is examined. Then, the evolutionary optimization genetic algorithm is used for the multi-objective optimization of constrained and suspended SPATIAL CABLE-DRIVEN PARALLEL ROBOT structure to achieve proper Pareto front confrontation. The Pareto front reconciliation of these three criteria will be discussed. The constrained and suspended optimized by the same criteria will be compared in the same conditions. It is confirmed that the constrained structure significantly reduced actuation energy to manipulate a serial robot, supply greater workspace and manipulability. The result of this study used for manufacturing and development of a prototype SPATIAL CABLE-DRIVEN PARALLEL ROBOT (RoboCab).

Cites

No record.

References

Cite

APA: Copy

NASR, ALI, & MOUSAVIAN, SEYED ALI AKBAR. (2016). MULTI-OBJECTIVE OPTIMIZATION DESIGN OF SPATIAL CABLE-DRIVEN PARALLEL ROBOT EQUIPPED WITH A SERIAL MANIPULATOR. MODARES MECHANICAL ENGINEERING, 16(1), 29-40. SID. https://sid.ir/paper/178459/en

Vancouver: Copy

NASR ALI, MOUSAVIAN SEYED ALI AKBAR. MULTI-OBJECTIVE OPTIMIZATION DESIGN OF SPATIAL CABLE-DRIVEN PARALLEL ROBOT EQUIPPED WITH A SERIAL MANIPULATOR. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(1):29-40. Available from: https://sid.ir/paper/178459/en

IEEE: Copy

ALI NASR, and SEYED ALI AKBAR MOUSAVIAN, “MULTI-OBJECTIVE OPTIMIZATION DESIGN OF SPATIAL CABLE-DRIVEN PARALLEL ROBOT EQUIPPED WITH A SERIAL MANIPULATOR,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 1, pp. 29–40, 2016, [Online]. Available: https://sid.ir/paper/178459/en

Related Journal Papers