On the Analysis of Large-Dimension Reconfigurable Suspended Cable-Driven Parallel Robots

Dinh Quan Nguyen 1 Marc Gouttefarde 1 Olivier Company 1 François Pierrot 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this paper, a new type of large-dimension reconfigurable suspended cable-driven parallel robots (CDPR) is introduced as a means to substitute for conventional methods of handing large and heavy parts across wide workspaces. The reconfigurability of the proposed CDPR offers better performances in term of workspace, flexibility and power consumption. A systematic procedure to solve a complex nonlinear optimization problem to find optimal reconfiguration for the robot is presented. Critical issues regarding various constraints and performance criteria are addressed. The robot can operate in offline reconfiguration or online reconfiguration modes which offer wide range of solutions to the end-users.
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Dinh Quan Nguyen, Marc Gouttefarde, Olivier Company, François Pierrot. On the Analysis of Large-Dimension Reconfigurable Suspended Cable-Driven Parallel Robots. ICRA: International Conference on Robotics and Automation, Jun 2014, Hong-Kong, China. pp.5728-5735, ⟨10.1109/ICRA.2014.6907701⟩. ⟨lirmm-01221402⟩

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