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Conference Papers Year : 2018

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

Abstract

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.

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lirmm-01898802 , version 1 (18-10-2018)

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Hussein Hussein, João Cavalcanti Santos, Marc Gouttefarde. Geometric Optimization of a Large Scale CDPR Operating on a Building Facade. IROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5117-5124, ⟨10.1109/IROS.2018.8593900⟩. ⟨lirmm-01898802⟩
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