 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12804 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
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| In English (Mech. Solids): | | 4760 |
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| M. Badrikouhi and M. Bamdad, "Kinematic Parameter Optimization of a 3-DOF Cable-Driven Parallel Robot with a Kinodynamic Dexterity Index," Mech. Solids. 58 (2), 641-658 (2023) |
| Year |
2023 |
Volume |
58 |
Number |
2 |
Pages |
641-658 |
| DOI |
10.3103/S0025654422601732 |
| Title |
Kinematic Parameter Optimization of a 3-DOF Cable-Driven Parallel Robot with a Kinodynamic Dexterity Index |
| Author(s) |
M. Badrikouhi (Shahrood University of Technology, Shahrood, 3619995161 Iran, miladbadrykoohi@shahroodut.ac.ir)
M. Bamdad (Shahrood University of Technology, Shahrood, 3619995161 Iran, bamdad@shahroodut.ac.ir) |
| Abstract |
This paper focuses on the optimization of a 3-DOF cable-driven parallel robot (CDPR).
In cable robots, the cables can only act in one direction, and this makes it more challenging in motion. Particularly, dynamic performance is required to be investigated in the robot optimization problem. In this regard, kinematic and dynamic dexterity may be considered as the conventional indices. Apart from the unidirectional force constraint, in a CDPR with both rotational and translational DOF, the traditional dexterity does not possess clear physical meaning because of the dimensional inhomogeneity of the components in the Jacobian matrix. In this study, a novel kinodynamic dexterity index is introduced. It is explained based on the infinity-norm, and unilateral dynamic dexterity. Then the evaluation of the optimum performance based on the new kinodynamic index was done and the kinematic parameters are optimized by GA. This measure allows us to apply kinodynamic analysis tools and offer a reference for the CDPR design. Finally, a prototype has been built based on the optimum parameters. |
| Keywords |
dexterity, cable-driven parallel robot, dynamic unilateral index, parameter optimization |
| Received |
03 December 2022 | Revised |
10 February 2023 | Accepted |
11 February 2023 |
| Link to Fulltext |
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