Influence of payload and platform dimensions on the static workspace of a 4-cable driven parallel robot

Atal Anil Kumar (1) , Jean-François Antoine (1) , Patrick Zattarin (1) , Gabriel Abba (1)

1 LCFC - Laboratoire de Conception Fabrication Commande

This paper presents the influence of payload and platform dimensions on the static equilibrium workspace of an under-constrained cable-driven robot with four cables taking into account the forces and the moments due to the forces acting on the moving platform. The problem is formulated as a non-linear optimization problem with maintaining static equilibrium as the objective function. The simulations are done in MATLAB. The maximum force on the cables, the payload acting on the platform and the dimensions of the moving platform are varied and their corresponding effects on the static equilibrium is studied. The obtained results are analyzed to finalize the design of the collaborative cable-driven robot to be installed in existing production lines for the agile handling of parts in a manufacturing industry.

Mots clés: non-linear optimization; cable-driven parallel robot; Static Equilibrium

Domaines: Robotique [cs.RO]

Atal Anil Kumar, Jean-François Antoine, Patrick Zattarin, Gabriel Abba. Influence of payload and platform dimensions on the static workspace of a 4-cable driven parallel robot. 2nd Robotix-Academy Conference for Industrial Robotics (RACIR) 2018, University of Luxembourg, Luxembourg, Jun 2018, Luxembourg, Luxembourg. ⟨hal-02307562⟩