نتایج جستجو برای: cable robot

تعداد نتایج: 118684  

Journal: :international journal of advanced design and manufacturing technology 0
moharam habibnejad korayem iust a. tajik h. tourajizadeh

in this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. this approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effec...

Journal: :iranian journal of mechanical engineering transactions of the isme 0
j. hamedi department of mechanical engineering, science and research branch, islamic azad university, tehran, iran h. zohoor distinguished professor and member, center of excellence in design, robotics and automation, school of mechanical engineering, sharif university of technology

modeling and wrench feasible workspace analysis of a spatial cable suspended robots is presented. a six-cable spatial cable robot is used the same as stewart robots. due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied...

Journal: :international journal of advanced design and manufacturing technology 0
moharam habibnejad korayem iust m. jalali h. tourajizadeh

this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...

H. Zohoor J. Hamedi,

Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and app...

Journal: :international journal of electrical and electronics engineering 0
m. a. khosravi hamid d. taghirad professor and dean of faculty of electrical engineering, k.n. toosi university of technology

in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...

In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...

Journal: :journal of optimization in industrial engineering 2010
moharam habib nezhad korayem mehdi bamdad ashkan akbareh

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

2013
Hae-Bum Yun Se-Hoon Kim Liuliu Wu Jong-Jae Lee

This paper presents the bridge cable inspection robot developed in Korea. Two types of the cable inspection robots were developed for cable-suspension bridges and cable-stayed bridge. The design of the robot system and performance of the NDT techniques associated with the cable inspection robot are discussed. A review on recent advances in emerging robot-based inspection technologies for bridge...

ashkan akbareh mehdi bamdad moharam habib nezhad korayem

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

2015
Bin. Zi Sen. Qian Andrés Kecskeméthy

This paper presents a reconfigurable cable parallel robot, which spatial topology can be reconfigured through managing the branch numbers and the hoisting points of the end-effector. An experimental prototype of the reconfigurable cable parallel robot is designed and developed. A typical configuration of the reconfigurable cable parallel robot is analyzed as a case study. The finite element ana...

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