Optimal Actuator Placement for Real-Time Hybrid Model Testing Using Cable-Driven Parallel Robots

In real-time hybrid model testing, complex ocean structures are emulated by fusing numerical modelling with traditional hydrodynamic testing. This is done partitioning the structure under consideration into a and physical substructure, coupled in real time via measurement control interface. The numerically computed load vector applied to substructure means of multiple actuated winches so that resulting experimental platform becomes type cable-driven parallel robot. this context, placement important ensure loads can be accurately robustly transferred substructure. paper addresses problem proposing performance measure an associated actuator procedure enables accurate force tracking ensures calculated throughout testing campaign. To clarify application proposed procedure, it design test setup for moored barge. Overall, represents guideline robust beneficial using robots load-actuation.