Determining the Range of Admissible Acceleration of Suspended Cable Robot

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Rasooli Mahmood; NIKOOBIN AMIN

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Journal: Modeling in Engineering Year:2018 | Volume:16 | Issue:54 Page(s): 387-402

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Information Journal Paper

Title

Determining the Range of Admissible Acceleration of Suspended Cable Robot

Author(s)

Rasooli Mahmood | NIKOOBIN AMIN | Issue Writer Certificate

Keywords

cable robotQ1

end-effector accelerationQ1

dynamic workspaceQ1

range of admissible accelerationQ1

positive tension constraintQ1

torque constraint of the actuatorsQ1

Abstract

In this article a method for determining the admissible acceleration of the end-effector is presented for the suspended cable robot in the different points of the workspace. The presented acceleration analysis is different with the dynamic work space. Indeed, the dynamic work space is defined as the set of all end-effector poses satisfying the acceleration conditions. While in the proposed analysis in this paper, the allowable acceleration range of the end-effector in each direction is obtained for any point of the workspace. To this end, after deriving the kinematic equations of the four-cable suspended robot, its dynamic equations are derived using the Lagrange method. Then, on the base of the positive tension constraint in the cables and the torque constraint of the actuators, the obtained equations are simplified to obtain the simple relation between the constrains and the end-effector acceleration in such a way that the lower and upper limit of the admissible acceleration is obtained. Some simulations are done in order to present the admissible acceleration in different point of the workspace. The simulation results show that the acceleration range is in the form of the pyramid with the rhomboid base. So the allowable range of the acceleration is changed in different direction. The results obtained in this paper can be used for online trajectory planning in high speed motion of cable robot.

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APA: Copy

Rasooli, Mahmood, & NIKOOBIN, AMIN. (2018). Determining the Range of Admissible Acceleration of Suspended Cable Robot. JOURNAL OF MODELING IN ENGINEERING, 16(54 ), 387-402. SID. https://sid.ir/paper/358202/en

Vancouver: Copy

Rasooli Mahmood, NIKOOBIN AMIN. Determining the Range of Admissible Acceleration of Suspended Cable Robot. JOURNAL OF MODELING IN ENGINEERING[Internet]. 2018;16(54 ):387-402. Available from: https://sid.ir/paper/358202/en

IEEE: Copy

Mahmood Rasooli, and AMIN NIKOOBIN, “Determining the Range of Admissible Acceleration of Suspended Cable Robot,” JOURNAL OF MODELING IN ENGINEERING, vol. 16, no. 54 , pp. 387–402, 2018, [Online]. Available: https://sid.ir/paper/358202/en

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