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ORIENTATION OPTIMIZATION OF CABLE-DRIVEN PARALLEL MANIPULATOR FOR CLEANING THE DEEP SEA FISHING GROUND
Shao, Zhufeng1; Li, Haisheng2; Wang, Liping1,2; Zhang, Zhaokun1; Yao, Rui3; Qie, Jinbo4
2020
Source PublicationINTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
ISSN0826-8185
Volume35Issue:5Pages:347-354
AbstractThis paper proposes an application scheme of a planar cable-driven parallel manipulator (CDPM) for cleaning the side nets of the deep sea fishing ground (DSFG). The object CDPM has three degrees of freedom (DOFs) driven by four cables. The rotational DOF is redundant and used to improve the cable force distribution of the CDPM. First, the method of solving the cable forces is clarified by statics. Then, the standard deviation of the cable forces is used to evaluate the cable force distribution. The orientation angle of the CDPM is optimized to minimize the standard deviation of cable forces. Further, the orientation workspace of the CDPM is determined to constrain the range of angle values in the optimization process considering the orientation continuity of the end effector. Finally, the simulation results show that the uniformity of the cable forces is improved considerably after the orientation optimization, which is beneficial to improve the rigidity and stability of the CDPM. The established optimization method of improving the cable force distribution and performance via redundant DOF can be further adopted to other CDPMs.
KeywordCable-driven parallel manipulator orientation optimization cable force workspace
Funding OrganizationNational Natural Science Foundation of China ; National Natural Science Foundation of China ; National High-tech Ship Research Project of China ; National High-tech Ship Research Project of China ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; National High-tech Ship Research Project of China ; National High-tech Ship Research Project of China ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; National High-tech Ship Research Project of China ; National High-tech Ship Research Project of China ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; National High-tech Ship Research Project of China ; National High-tech Ship Research Project of China
DOI10.2316/J.2020.206-0316
Language英语
Funding ProjectNational Natural Science Foundation of China[U19A20101] ; National Natural Science Foundation of China[51575292] ; National High-tech Ship Research Project of China
Funding OrganizationNational Natural Science Foundation of China ; National Natural Science Foundation of China ; National High-tech Ship Research Project of China ; National High-tech Ship Research Project of China ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; National High-tech Ship Research Project of China ; National High-tech Ship Research Project of China ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; National High-tech Ship Research Project of China ; National High-tech Ship Research Project of China ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; National High-tech Ship Research Project of China ; National High-tech Ship Research Project of China
WOS Research AreaAutomation & Control Systems ; Robotics
WOS SubjectAutomation & Control Systems ; Robotics
WOS IDWOS:000550625900003
PublisherACTA PRESS
Citation statistics
Document Type期刊论文
Identifierhttp://ir.bao.ac.cn/handle/114a11/82687
Collection中国科学院国家天文台
Corresponding AuthorZhang, Zhaokun
Affiliation1.Tsinghua Univ, Beijing Key Lab Precis Ultraprecis Mfg Equipment, State Key Lab Tribol, Beijing 100084, Peoples R China
2.Univ Elect Sci & Technol China, Sch Mech & Elect Engn, Chengdu 611731, Peoples R China
3.Chinese Acad Sci, Natl Astron Observ, Beijing 100012, Peoples R China
4.Shanghai Shipbldg Technol Res Inst, Shanghai 200023, Peoples R China
Recommended Citation
GB/T 7714
Shao, Zhufeng,Li, Haisheng,Wang, Liping,et al. ORIENTATION OPTIMIZATION OF CABLE-DRIVEN PARALLEL MANIPULATOR FOR CLEANING THE DEEP SEA FISHING GROUND[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2020,35(5):347-354.
APA Shao, Zhufeng,Li, Haisheng,Wang, Liping,Zhang, Zhaokun,Yao, Rui,&Qie, Jinbo.(2020).ORIENTATION OPTIMIZATION OF CABLE-DRIVEN PARALLEL MANIPULATOR FOR CLEANING THE DEEP SEA FISHING GROUND.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,35(5),347-354.
MLA Shao, Zhufeng,et al."ORIENTATION OPTIMIZATION OF CABLE-DRIVEN PARALLEL MANIPULATOR FOR CLEANING THE DEEP SEA FISHING GROUND".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 35.5(2020):347-354.
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