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

Hussein Hussein 1 João Cavalcanti Santos 1 Marc Gouttefarde 1 
1 DEXTER - Robotique médicale et mécanismes parallèles
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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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Submitted on : Thursday, October 18, 2018 - 6:37:04 PM
Last modification on : Friday, August 5, 2022 - 3:03:30 PM
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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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