Designing redundant cable-driven parallel robots for additive manufacturing using end-effector compliance index

Name: Designing redundant cable-driven parallel robots for additive manufacturing using end-effector compliance index
Author: Kara, Burhan, Qureshi, Muhammad Sarmad, Bundur, Zeynep Başaran, Bebek, Özkan

İsim	Designing redundant cable-driven parallel robots for additive manufacturing using end-effector compliance index
Yazar	Kara, Burhan, Qureshi, Muhammad Sarmad, Bundur, Zeynep Başaran, Bebek, Özkan
Basım Tarihi:	2023
Basım Yeri	- IEEE
Konu	Exoskeleton, Modelling, Pneumatic artificial muscle
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-166549313-0
Kayıt Numarası	23f73476-19c7-4e22-8a12-6bacd0bd5554
Lokasyon	Civil Engineering, Mechanical Engineering
Tarih	2023
Notlar	TÜBİTAK
Örnek Metin	This paper presents a methodology for optimizing cable anchor points for cable-driven parallel robots (CDPRs) for specific additive manufacturing tasks. Much of a CDPR's workspace is generally not used for printing tasks. The unused workspace of the CDPR can be sacrificed to gain greater control to fulfill the printing task. In this paper, the CDPR is designed for a specific task to achieve the best printing results. To find the optimum robot size, the stiffness of the end-effector and mean cable tension are analyzed. The end-effector compliance index (ECI) is proposed to assess the stiffness of the end-effector within the workspace. The ECI uses cable directions to determine the compliance of a given robot pose. From simulation results, a relation to get optimum CDPR frame size is achieved for both suspended and constrained type CDPRs. The proposed method can be used to design low-cost cable-driven robots for additive manufacturing.
DOI	10.1109/INDIN51400.2023.10218156

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Designing redundant cable-driven parallel robots for additive manufacturing using end-effector compliance index

Yazar Kara, Burhan, Qureshi, Muhammad Sarmad, Bundur, Zeynep Başaran, Bebek, Özkan

Basım Tarihi 2023

Basım Yeri - IEEE

Konu Exoskeleton, Modelling, Pneumatic artificial muscle

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-166549313-0

Kayıt Numarası 23f73476-19c7-4e22-8a12-6bacd0bd5554

Lokasyon Civil Engineering, Mechanical Engineering

Tarih 2023

Notlar TÜBİTAK

Örnek Metin This paper presents a methodology for optimizing cable anchor points for cable-driven parallel robots (CDPRs) for specific additive manufacturing tasks. Much of a CDPR's workspace is generally not used for printing tasks. The unused workspace of the CDPR can be sacrificed to gain greater control to fulfill the printing task. In this paper, the CDPR is designed for a specific task to achieve the best printing results. To find the optimum robot size, the stiffness of the end-effector and mean cable tension are analyzed. The end-effector compliance index (ECI) is proposed to assess the stiffness of the end-effector within the workspace. The ECI uses cable directions to determine the compliance of a given robot pose. From simulation results, a relation to get optimum CDPR frame size is achieved for both suspended and constrained type CDPRs. The proposed method can be used to design low-cost cable-driven robots for additive manufacturing.

DOI 10.1109/INDIN51400.2023.10218156