A cable-driven platform is designed, manufactured and tested in a water tank. The platform is operated by four cables anchored to the tank corners and controlled by actuators mounted on a cylindrical floating structure. Labview based experiments are conducted on the floating cable-driven parallel manipulator to measure tensions in the cables as it moves within its workspace. The platform is analyzed, in parallel, as a three degrees of freedom system within the framework of rigid-body dynamics, taking the influence of the surrounding water on the mass, stiffness, and damping matrices. A numerical model is established to calculate the tension in the cables as a function of the platform pose. Theoretical prediction and experimental results are found to agree fairly well.
A Floating Cable-Driven Robotic Manipulator in a Marine Environment
Mechan. Machine Science
IFToMM World Congress on Mechanism and Machine Science ; 2019 ; Krakow, Poland July 15, 2019 - July 18, 2019
14.06.2019
14 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Wave-driven sea surface floating garbage cleaning device for marine environment treatment
Europäisches Patentamt | 2021
|Autonomous Robotic Manipulator Software
AIAA | 2024
|A Study on Structure Design of Cable-Driven Picking Manipulator
Tema Archiv | 2012
|Modeling and Workplace Analysis of 3T Cable-Driven Parallel Manipulator
Trans Tech Publications | 2013
|