Workspace Analysis of Cable Parallel Manipulator for Side Net Cleaning of Deep Sea Fishing Ground
Deep sea fishing ground (DSFG) is a large-scale fish farming equipment that allows the full use of marine environment to meet human needs for food quantity and quality. To maintain the good aquaculture environment of the DSFG, regular cleaning of its side nets is necessary. This paper discusses the application of the four-cable parallel manipulator in performing the cleaning task. The impact of buoyancy on the workspace of the cable parallel manipulator is studied, which reveals that reasonable use of buoyancy can improve the reachable workspace. The stiffness anisotropy and stiffness average indices are adopted to analyze the stiffness performance. Then, the preliminary workspace of the four-cable parallel manipulator is determined, and covers 88.8% of the entire side net of the DSFG and meet the coverage requirement of 85%. Optimization of the scale and end effector rotation will be carried out in the future, which can further improve the coverage.
KeywordsCable-driven parallel manipulator Workspace Stiffness Buoyancy
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