Author
Kara, Burhan, Qureshi, Muhammad Sarmad, Bundur, Zeynep Başaran, Bebek, Özkan
Publication Date
2023
Publication Place
-
IEEE
Subject
Exoskeleton, Modelling, Pneumatic artificial muscle
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
978-166549313-0
Record ID
23f73476-19c7-4e22-8a12-6bacd0bd5554
Library Location
Civil Engineering, Mechanical Engineering
Date
2023
Notes
TÜBİTAK
Sample Text
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
