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Unpublished Paper
A NEW COMPUTATIONAL APPROACH FOR OBTAINING OPTIMIZED TENSION DISTRIBUTIONS IN REDUNDANT CABLE-DRIVEN ROBOTS ALONG A TRAJECTORY
Cable-Robots (2016)
  • Omid Saber, Texas A&M University
  • Hassan Zohoor
Abstract
Employing flexible cables driven by controllable servo-motors enables cable robots to operate in a very large workspace. However, cables cannot push an object, and as a result, the controllability of a cable robot is constrained. Wrench-feasibility of a cable robot can be improved by adding cables to the robot. Accordingly, redundancy is necessary in order to enhance the controllability of the end-effector. The main problem that should be addressed for a redundant cable robot is to obtain a solution for cable tensions so that the cables stay in tension at all positions of the end-effector. In this paper, we propose to use a population based search algorithm called “particle swarm optimization method” to find positive bounded tensions in redundant cable robots operating along a trajectory. The method enables us to achieve non-fluctuating continuous positive solutions for the actuators. The results indicate that not only the method is efficient in obtaining smooth positive bounded tension distributions along a trajectory, but also additional optimization objectives (e.g. energy consumption reduction) can be embedded in the presented method.
Keywords
  • Cable-driven robot,
  • wrench feasibility,
  • redundant robots,
  • particle swarm optimization
Publication Date
Spring January 1, 2016
Citation Information
Omid Saber and Hassan Zohoor. "A NEW COMPUTATIONAL APPROACH FOR OBTAINING OPTIMIZED TENSION DISTRIBUTIONS IN REDUNDANT CABLE-DRIVEN ROBOTS ALONG A TRAJECTORY" Cable-Robots (2016)
Available at: http://works.bepress.com/omid-saber/2/