TY - GEN
T1 - Optimal design of a reconfigurable end-effector for cable-suspended parallel robots
AU - Barbazza, Luca
AU - Zanotto, Damiano
AU - Rosati, Giulio
AU - Agrawal, Sunil K.
N1 - Publisher Copyright:
© Springer International Publishing AG 2017.
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-319-48375-7_29
DO - 10.1007/978-3-319-48375-7_29
M3 - Conference contribution
AN - SCOPUS:84996917575
SN - 9783319483740
T3 - Mechanisms and Machine Science
SP - 267
EP - 275
BT - Advances in Italian Mechanism Science - Proceedings of the 1st International Conference of IFToMM Italy
A2 - Gasparetto, Alessandro
A2 - Boschetti, Giovanni
T2 - 1st International Conference of IFToMM ITALY, IFIT 2016
Y2 - 1 December 2016 through 2 December 2016
ER -