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Approximation of the Workspace of a Cable-Driven Parallel Robot with a Movable Gripper

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Industrial and Robotic Systems (LASIRS 2019)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 86))

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Abstract

The article discusses the non-uniform covering method application to solve the problem of the workspace determination of a cable-driven parallel robot with a movable gripper for cargo handling in special conditions. The robot is a rigidly fixed frame connected by tensioned ropes to a platform containing an axial movement device. The non-uniform covering method is one of the most well-known deterministic methods for solving global optimization problems. An algorithm for approximating the workspace of a cable-driven parallel robot using interval analysis methods has been synthesized. Visualization of simulation results is carried out by converting a set of three-dimensional boxes into an STL file.

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Acknowledgments

This research has been supported by the RFBR according to the research project No. 18-31-20060.

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Authors and Affiliations

  1. Belgorod State Technological University named after V.G. Shukhov, Belgorod, Russian Federation

    Larisa Rybak, Elena Gaponenko & Dmitry Malyshev

Authors
  1. Larisa Rybak
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  2. Elena Gaponenko
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  3. Dmitry Malyshev
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Corresponding author

Correspondence to Dmitry Malyshev .

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Editors and Affiliations

  1. ESIME Ticoman, Instituto Politecnico Nacional, Mexico City, Mexico

    Eusebio E. Hernandez

  2. School of Engineering and Science, Tecnologico de Monterrey, Altamira, Mexico

    Sajjad Keshtkar

  3. CONACYT-CENTROGEO, Mexico City, Mexico

    S. Ivvan Valdez

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Rybak, L., Gaponenko, E., Malyshev, D. (2020). Approximation of the Workspace of a Cable-Driven Parallel Robot with a Movable Gripper. In: Hernandez, E., Keshtkar, S., Valdez, S. (eds) Industrial and Robotic Systems. LASIRS 2019. Mechanisms and Machine Science, vol 86. Springer, Cham. https://doi.org/10.1007/978-3-030-45402-9_5

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