On the Task Specific Evaluation and Optimisation of Cable-Driven Manipulators

摘要：

Cable-driven manipulators are traditionally designed for general performance objectives, such as maximisation of workspace. To take advantage of the reconfigurability of cable-driven mechanisms, the optimisation of cable-configurations for specific tasks is presented. Specifically, two types of task specific objectives are explored, the minimisation of cable forces over a desired trajectory and the maximisation of workspace about a desired pose. The formulation and incorporation to the optimisation problem for both task specific objectives are presented. Illustrated using a 3-DoF manipulator example, the results clearly demonstrated the advantages of optimising cable configurations for specific tasks. The potential ease of relocation in cable attachments makes task dependent reconfiguration feasible.

关键词： Cable-driven manipulators Task-specific objectives Optimisation

作者: Darwin Lau Kishor Bhalerao Denny Oetomo Saman K. Halgamuge

作者单位: Department of Mechanical Engineering, The University of Melbourne,Melbourne, Australia

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 707-716

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）