Configuration Selection and Parameter Optimization of Redundantly Actuated Cable-driven Parallel Robots

doi:10.3901/JME.2020.01.001

Abstract

Abstract: The configuration selection and parameter optimization of redundantly actuated cable-driven parallel robots (RA-CDRPs) for automatic warehouse systems are studied. Firstly, the configuration characteristics of the RA-CDPRs are analysed, and the static model and the wrench-feasible condition are established. Base on this condition, a new optimization criterion named maximum mass is proposed. Then, the complete optimization method is designed, and the optimal configuration and parameter are obtained. Finally, the optimization results are validated on an RA-CDPR in the simulation test. The results show that the optimal configuration and parameters have the best performance for the storage and retrieval operations in the automatic warehouse systems.

Key words: automatic warehouse systems, cable-driven parallel robot, parallel robot, optimization design

CLC Number:

TG156

ZHANG Fei, ZHANG Bin, ZHOU Feng, SHANG Weiwei, CONG Shuang. Configuration Selection and Parameter Optimization of Redundantly Actuated Cable-driven Parallel Robots[J]. Journal of Mechanical Engineering, 2020, 56(1): 1-8.

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