Geometric Optimization of a Large Scale CDPR Operating on a Building Facade

Geometric Optimization of a Large Scale CDPR Operating on a Building Facade

This paper deals with the optimization of the geometry of a Cable-Driven Parallel Robot (CDPR) dedicated to large-scale construction applications. Since the maximum cable tension is a critical parameter in the design of the CDPR components, the geometry of the CDPR is optimized by minimizing the low...

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Bibliographic Details
Published in:2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 5117 - 5124
Main Authors: Hussein, Hussein, Santos, Joao Cavalcanti, Gouttefarde, Marc
Format: Conference Proceeding
Language:English
Published: IEEE 01-10-2018
Subjects:
Buildings
Geometry
Indexes
Optimization
Payloads
Robots
Trajectory
Online Access:Get full text
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Summary:This paper deals with the optimization of the geometry of a Cable-Driven Parallel Robot (CDPR) dedicated to large-scale construction applications. Since the maximum cable tension is a critical parameter in the design of the CDPR components, the geometry of the CDPR is optimized by minimizing the lowest maximum cable tension that ensures the validity of wrench-feasibility constraints. The geometric design procedure used in this paper consists of two phases, the CDPR cable connections is selected in the first phase followed by a second phase where the geometric parameters are optimized. The result of this procedure is an original fully-constrained CDPR geometry.
ISSN:2153-0866
DOI:10.1109/IROS.2018.8593900