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  1. تحلیل سینماتیکی و دینامیکی و تعیین فضای کاری بهینه یک ربات موازی کابلی با سه درجه آزادی انتقالی
تحلیل سینماتیکی و دینامیکی و تعیین فضای کاری بهینه یک ربات موازی کابلی با سه درجه آزادی انتقالی
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تحلیل سینماتیکی و دینامیکی و تعیین فضای کاری بهینه یک ربات موازی کابلی با سه درجه آزادی انتقالی

صابر، امید Saber, Omid

Kinematic and Dynamic Analysis and Workspace Optimization of a 3DoF Cable-Based Parallel Robot

Saber, Omid | 2010

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 41574 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan
  7. Abstract:
  8. Cable-driven robots are referred to as parallel robots actuated with cables. In fact,in such robots rigid links are replaced by cables, which may be extended to desired lengths without making mechanism much heavy. This robot possesses a number of unique properties that makes it suitable for many industrial applications. The main factor which makes cable robots analysis different from other parallel robots is the incapability of cables to push objects. Hence, obtaining the workspace of a cable robot is one of the most important subjects associated with this type of robot.The goal of this thesis is to design a spatial translational cable driven robot, which may be used for object handling. For this purpose, two cable robots with parallel geometry have been proposed that not only have larger workspace in comparison with their analogous robot, but also need only 3 actuators for resisting external moments and having translation-only motion. Also, the introduced robots have a simple structure, and as a result, their kinematic and dynamic analysis is straight forward. Furthermore, in this thesis, several types of workspaces have been studied and the formulation of obtaining these workspaces has been presented.Finally, the workspace of proposed robots is optimized using a method based on particle swarm optimization algorithm.
  9. Keywords:
  10. Workspace ; Dynamic Analysis ; Particles Swarm Optimization (PSO) ; Kinematics Analysis ; Three-Degree of Freedom Robot ; Parallel Cable Driven Robot

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