Subject:
Engineering

 

Number Of Pages:
16     Double-spaced (3600 words)

 

Number Of Sources:
15

 

Type of Document:
Research Paper

 

Academic Level:
Master

 

Citation Style:
APA

 

Attachment(s):
1601-8.pdf
9127-11.pdf

 

Solution Files(s):
N/A

 

Description:

 

presenting the problem of cable robot in two dimensions (2D and 3D) and propose a design to solve some aspects of this problem. These robots have a large workspace and a high payload to weight ratio. In CDPRs the actuators are winches reeling cables in and out, which causes the end-effector to move to a desired position or pose. To fully control the pose of the end-effector, the tensions in the cables have to be maintained at all times. The design and optimization through simulation is the aim of this study. Several different designs will be analyzed, modeled and then controlled, and their performances compared, to identify the “best” structure for such an application using the optimization Matlab toolbox. Matlab software will be used to model, simulate and control the virtual prototype.

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