|Seyyed Ahmad Khalilpour|
Multi Objective Optimal Design of Cable Robots Based on Kinematic Sensitivity and Controllable Workspace Indices
Today robotic science poses as a powerful tool in industry and its progressive evaluation resolves industrial factories’ problems. Likewise cable robots were invented with the purpose of eliminating the diﬃculties of series and parallel robots which were used formerly. The use of cable robots was accepted for its low cost of manufacturing, low power consumption and at the same time, its large workspace and heavy payload handling. But cable robots too, have their own limitations, such that cables must always be in a tension mode, also collisions of cables with each other as well as with the end eﬀector or environmental objects are important issues in the design of cable robots. The design of the robot must be such that the robot could have suﬃcient dexterity and could do any arbitrary task in all necessary directions. In this project, to qualify for the above constraints, volume of controllable workspace, translational and rotational kinematic sensitivity and global condition number indices are used. Also, combining and developing the mentioned criterions in the framework of interval analysis is another approach which has been used in order to achieve more useful and eﬃcient indices. In
this thesis, the designs of the planar and spatial cable robots as the two major kinds of cable robots
are investigated. By taking the advantages of multi-objective optimization methods such as genetic algorithm and particle swarm method, optimal pareto front for the design parameters of the cable robot is obtained such that, simultaneously all objective functions of the robot design are optimum.
|2013||M.Sc.||Parallel and Cable Robotics|