A Floating Cable-Driven Robotic Manipulator in a Marine Environment
A cable-driven platform is designed, manufactured and tested in a water tank. The platform is operated by four cables anchored to the tank corners and controlled by actuators mounted on a cylindrical floating structure. Labview based experiments are conducted on the floating cable-driven parallel manipulator to measure tensions in the cables as it moves within its workspace. The platform is analyzed, in parallel, as a three degrees of freedom system within the framework of rigid-body dynamics, taking the influence of the surrounding water on the mass, stiffness, and damping matrices. A numerical model is established to calculate the tension in the cables as a function of the platform pose. Theoretical prediction and experimental results are found to agree fairly well.
KeywordsMarine platforms Robotic manipulators Dynamic analysis Cable stiffness Workspace
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The authors would like to acknowledge the support provided by King Abdulaziz City for Science and Technology (KACST) for funding this work through project No. 11-ELE1623-04 as part of the National Science, Technology, and Innovation Plan. In addition to that, the authors would like to acknowledge the support provided by National Instrument Company. Also, the authors would like to acknowledge Dr. Ihab Al-Surakji of Al-Najah University for his help and support.
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