Combined Criterion for Ship Position Optimization in Cable Based Parallel Manipulators

Abstract:

In this study, ship position optimization is conducted on a cable-driven parallel manipulator (CPM) operating inside deep sea. The workspace and stiffness of the manipulator is analysed as well as cable tensions after failure are reported and a combined criterion of ship position optimization has been established. Based on the criterion, the CPM will have maximum workspace and stiffness as well as minimum cable tensions in case of a failure. The optimization is demonstrated with six, eight and ten ships CPMs. The performance of the system is improved with higher number of cables in a CPM.

• Periodical: Applied Mechanics and Materials (Volume 736)
• Pages: 211-217
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.736.211
• Online since: March 2015
• Authors: Asim Ghaffar*, Mahir Hassan
• Keywords: Cable-Driven Manipulator, Failure Analysis, Stiffness, Wire-Driven Manipulator, Workspace

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