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Geometric Analysis and Dynamic Trajectory of a 5-DOF Cable-Suspended Spatial Parallel Robot

Ghasemi, Mohammad Javad | 2021

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 54401 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Fallah, Famida; Zohoor, Hassan
  7. Abstract:
  8. Cable-driven parallel robots (CDPRs) form a class of robotic manipulator in which the actuation end-effector is transmitted through cables. Due to the unique characteristics and advantages of cable transmission, CDPRs have become increasingly studied in recent years. In this thesis, the study of Geometric Analysis and Dynamic Trajectory of a 5-DOF Cable-Suspended Spatial Parallel Robot is investigated. Geometric analysis is corresponds to the workspace on which the robot is designed. The design of cable mechanisms allows the robot to be used with appropriate configuration in various fields such as industry, medicine, etc. The study of CDPR design has been limited due to several reasons. First, these parallel robots have very complex kinematics and dynamics due to the use of cables, which leads to many complications in the synthesis and control of these robots. Second, the flexibility of the cable in the robot's working space with objects is an issue that often complicates the robot's modeling. In this project, the main goal is to obtain a suitable model of industrial work based on optimization methods. Based on this, considering the specific working space and using the particle aggregation optimization algorithm, the optimal configuration is obtained. This issue is of great importance in terms of synthesis and kinematic study of Parallel Cable Robots. One of the most important advantages of the particle aggregation optimization method is not getting caught up in local optimization and finding total optimizations. In this optimization, the connection of the cables and the relative
  9. Keywords:
  10. Optimization ; Dynamics ; Parallel Cable Driven Robot ; Direct Kinematics ; Cable-Suspended Robot ; Five-Degree of Freedom Robot

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