Designing, Modeling and Wrench Feasible Workspace Analysis of a 3D Cable Suspended Robot for Heavy Loads Handling Applications

摘要

The objective of this paper is designing, modeling andrnwrench feasible workspace analysis of a 3D cable suspendedrnrobot as IRPM (Incompletely Restrained PositioningrnMechanism). This type of robots supports a load platform inrnspace by less than or equal to six spatially arranged cables.rnWe use the model of 6 cables spanned in the same manner asrna Stewart parallel mechanism. This mechanism is suitablernfor the accurate positioning of heavy loads. Concentratingrnon the operations of heavy loads handling, studying thernworkspace and ways of increasing it is of high importance.rnSeveral workspaces exist amongst which the constant andrntotal orientation statically reachable combined and wrenchrnfeasible workspaces at low speeds of moving platform playsrnan important role. After designing and modeling of robot,rnsimulation on the basis of workspace is obtained, and thenrnthe ways of increasing of mentioned workspaces underrnapplying of the several applied external wrenchesrn(forces/moments) is discussed. These processes arernaccomplished by Matlab software. Results show thatrntriangular platforms, to aggrandize size of base platform andrnto decrease of lateral applied forces and moments to Movingrnplatform are ways to increase workspaces volumes in orderrnto heavy loads handling applications.