Mathematic Modeling and Control of Underwater Cable-Driven Parallel Robot
نویسندگان
چکیده
Cable-driven parallel robots are mechanisms that control the position and attitude of an object using multiple cables. Typical cable-driven have been studied for use on land, but not in water. This is because motion analysis become difficult underwater due to large deformation cables caused by fluid forces. In this paper, we propose robot consisting on-water derive a dynamics model considers cable underwater. Then, proposed system suspended based inverse kinematics problem its effectiveness simulation planar two degrees-of-freedom robot.
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ژورنال
عنوان ژورنال: Nihon sempaku kaiyou kougakkai rombunshuu
سال: 2022
ISSN: ['1880-3717', '1881-1760']
DOI: https://doi.org/10.2534/jjasnaoe.36.53