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Configuration Selection and Parameter Optimization of Redundantly Actuated Cable-driven Parallel Robots

被引：0
|
作者：
Zhang, Fei [1 ]
Zhang, Bin [1 ]
Zhou, Feng [1 ]
Shang, Weiwei [1 ]
Cong, Shuang [1 ]
机构：
[1] Department of Automation, University of Science and Technology of China, Hefei,230027, China
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2020年 / 56卷 / 01期
关键词：
Robots; -; Warehouses; Cables;
D O I：
10.3901/JME.2020.01.001
中图分类号：
学科分类号：
摘要：
The configuration selection and parameter optimization of redundantly actuated cable-driven parallel robots (RA-CDRPs) for automatic warehouse systems are studied. Firstly, the configuration characteristics of the RA-CDPRs are analysed, and the static model and the wrench-feasible condition are established. Base on this condition, a new optimization criterion named maximum mass is proposed. Then, the complete optimization method is designed, and the optimal configuration and parameter are obtained. Finally, the optimization results are validated on an RA-CDPR in the simulation test. The results show that the optimal configuration and parameters have the best performance for the storage and retrieval operations in the automatic warehouse systems. © 2020 Journal of Mechanical Engineering.
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页码：1 / 8
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