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 Geometric Optimization of a Large Scale CDPR Operating on a Building Facade Hussein Hussein 990518-0 João Cavalcanti Santos 7167c3ca2c56c11f24e028d5b0c071ad lirmm.fr joao-cavalcanti-santos 753670 54979-753670 https://orcid.org/0000-0003-4964-6446 Marc Gouttefarde 82fcde859ae348e8875f67d975aa9644 lirmm.fr marc-gouttefarde 170861 16012-170861 https://orcid.org/0000-0002-4369-6867 https://www.idref.fr/172642027 Marc Gouttefarde-Tanich 82fcde859ae348e8875f67d975aa9644 lirmm.fr 2018-10-18 18:37:04 2023-03-24 14:53:08 2018-10-19 11:36:04 2018-10-01 2018-10-18 contributor Marc Gouttefarde-Tanich 82fcde859ae348e8875f67d975aa9644 lirmm.fr CCSD lirmm-01898802 https://hal-lirmm.ccsd.cnrs.fr/lirmm-01898802 hussein:lirmm-01898802 <i>IROS: Intelligent RObots and Systems</i>, Oct 2018, Madrid, Spain. pp.5117-5124, <a target="_blank" href="https://dx.doi.org/10.1109/IROS.2018.8593900">&#x27E8;10.1109/IROS.2018.8593900&#x27E9;</a> IROS: Intelligent RObots and Systems, Oct 2018, Madrid, Spain. pp.5117-5124, &#x27E8;10.1109/IROS.2018.8593900&#x27E9; HAL Authorization CNRS - Centre national de la recherche scientifique OpenAIRE Conception et commande de robots pour la manipulation Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes Mathématiques, Informatique, Physique et Systèmes Université de Montpellier Test DEXTER Université de Montpellier (2015-2021) International No No Yes Yes Geometric Optimization of a Large Scale CDPR Operating on a Building Facade Hussein Hussein 990518-0 João Cavalcanti Santos 7167c3ca2c56c11f24e028d5b0c071ad lirmm.fr joao-cavalcanti-santos 753670 54979-753670 https://orcid.org/0000-0003-4964-6446 Marc Gouttefarde 82fcde859ae348e8875f67d975aa9644 lirmm.fr marc-gouttefarde 170861 16012-170861 https://orcid.org/0000-0002-4369-6867 https://www.idref.fr/172642027 31st IEEE/RSJ International Conference on Intelligent Robots and Systems IROS: Intelligent RObots and Systems 2018-10-01 2018-10-05 Madrid Spain 5117-5124 2018 10.1109/IROS.2018.8593900 https://www.iros2018.org English Engineering Sciences [physics]/Automatic Conference papers Conference papers Conference papers

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.

 Robotique médicale et mécanismes parallèles DEXTER 2021-12-31
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https://www.lirmm.fr/equipes/DEXTER/ 139590827 0000000405990488 199111950H https://ror.org/013yean28 Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier LIRMM 1995-01-01 2021-12-31
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https://www.lirmm.fr 0000000120970141 https://ror.org/051escj72 Université de Montpellier UM 2021-12-31
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http://www.umontpellier.fr/ 02636817X 0000000122597504 https://ror.org/02feahw73 Centre National de la Recherche Scientifique CNRS 1939-10-19
https://www.cnrs.fr/ 732513 H2020-ICT-2016-2017 H2020-ICT-2016-1 HEPHAESTUS Highly automatEd PHysical Achievements and PerformancES using cable roboTs Unique Systems 2017-01-01 2020-12-31