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Workspace Analisys of A Multi-Link Cable-Driven Robot With Multiple Connection Of Cable to Multi-Link

Khalili Nasab, Navid | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 43581 (08)
  4. University: Sharif University Of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan
  7. Abstract:
  8. As technology develops, the need of instruments which could be used for improving the rate and accuracy of the manufacturing increases. This makes the robots inevitable to use in most industries. Among the robots, cable-driven robots have special characteristics that increase the tendency of using them.Multi-body cable-driven robots are novel type of cable-driven robots that have advantages compared to single-body ones. Capability of use in rehabilitation applications, in which the different parts of human body have to move separately, is one of the advantages of multi-body cable-driven robots.The first aim of this thesis is to extend the tensionable workspace concept for multi-body cable-driven mechanisms with multiple connections, in which cables are attached in more than one point to the mechanism. The second aim is to study the effect of substituting the single connection of cables with multiple ones, on the size of workspace and performance of mechanism.In this research, a method has been obtained for determining the tensionable workspace of cable driven robots with multiple connections of cables. Then singular value ratio (SVR) of structural matrix and null space ratio (NSR) have been defined for investigating the performance of these robots. Investigations have shown that substituting the single connection of cables with multiple ones, improves the size of tensionable workspace of mechanism. This improvement is along with improvement of continuity of the workspace. This substitution also improves the performance of cable-driven mechanism.
  9. Keywords:
  10. Optimization ; Genetic Algorithm ; Performance Coefficient Curve ; Multi-Link Cable-Driven Robots ; Multiple Connections

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