Facing the demand for the flexible arrangement of robots on the production lines and adjustment of workspace, reconfiguration research is carried out based on the high-speed cable-driven parallel robot (CDPR), named TBot. The anti-disturbance performance index and analysis method for CDPR with common driven parallel cables are proposed on the basis of the convex hull. The performance of two typical TBots are compared and analyzed accordingly, considering the symmetrical layout. The influence of the vertex angle of base and the location of the upper universal joint on the performance of TBot is illustrated, and a reconfiguration design principle for TBot is concluded to further promote its industrial application. Besides, the proposed method can be extended to the optimization of other CDPRs with common driven parallel cables.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Reconfiguration and Performance Evaluation of TBot Cable-Driven Parallel Robot


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Caro, Stéphane (Herausgeber:in) / Pott, Andreas (Herausgeber:in) / Bruckmann, Tobias (Herausgeber:in) / Duan, Jinhao (Autor:in) / Liu, Hanqing (Autor:in) / Zhang, Zhaokun (Autor:in) / Shao, Zhufeng (Autor:in) / Meng, Xiangjun (Autor:in) / Lv, Jingang (Autor:in)

    Kongress:

    International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023


    Erschienen in:

    Cable-Driven Parallel Robots ; Kapitel : 23 ; 283-294


    Erscheinungsdatum :

    03.06.2023


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Reconfiguration of Cable Driven Parallel Robot Based on Mobile Base Position

    Muntashir, Rizal / Nurahmi, Latifah | British Library Conference Proceedings | 2022



    A reconfiguration strategy for Reconfigurable Cable-Driven Parallel Robots

    Gagliardini, Lorenzo / Caro, Stephane / Gouttefarde, Marc et al. | IEEE | 2015


    Actuated In-Operation-Reconfiguration of a Cable-Driven Parallel Robot with a Gradient Descent Approximation Technique

    Clar, Johannes / Trautwein, Felix / Reichenbach, Thomas et al. | Springer Verlag | 2024


    Workspace Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots

    Trautwein, Felix / Reichenbach, Thomas / Pott, Andreas et al. | TIBKAT | 2021