Optimal design of a reconfigurable end-effector for cable-suspended parallel robots

Luca Barbazza, Damiano Zanotto, Giulio Rosati, Sunil K. Agrawal

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

In this paper, a new cable-suspended parallel robot (CSPR) with reconfigurable end-effector is presented. The system has been conceived for pick and place operations in industrial environments where the ability to avoid obstacles and to maximize the performance are the main requirements. The proposed system has the capability of dynamically modifying the configuration of the cable anchor points on the end-effector to avoid collisions with obstacles in the approaching/departing phases, while reducing themovement time in the rest of the trajectory. Kinematic and dynamic models of the reconfigurable CSPR are derived and an optimal design of the end-effector is presented. The optimization aims atminimizing the force required by the linear actuator to modify the position of the cable anchor points during a pick and place task. The results reveal the predominant effect of the end-effector mass distribution on the force exerted by the linear actuator.

Original languageEnglish
Title of host publicationAdvances in Italian Mechanism Science - Proceedings of the 1st International Conference of IFToMM Italy
EditorsAlessandro Gasparetto, Giovanni Boschetti
Pages267-275
Number of pages9
DOIs
StatePublished - 2017
Event1st International Conference of IFToMM ITALY, IFIT 2016 - Vicenza, Italy
Duration: 1 Dec 20162 Dec 2016

Publication series

NameMechanisms and Machine Science
Volume47
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

Conference1st International Conference of IFToMM ITALY, IFIT 2016
Country/TerritoryItaly
CityVicenza
Period1/12/162/12/16

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