Hami Tourajizadeh, Moharam H. Korayem, and Saeed R. Nekoo
Cable robot, dynamic load carrying capacity, sensitivity analysis, differential and graphic methods
In this paper, sensitivity analysis of dynamic load carrying capacity (DLCC) of a spatial cable-suspended robot is performed with respect to its kinematic and kinetic constraints. Considering the fact that the most important application of the cable robots is load handling between two points or within a predefined path, calculating and optimization of their maximum load carrying capacity in its dynamic state is of great interest to robotics engineers. In this paper, both of kinetics and also kinematics parameters, which are engaged in defining the allowable DLCC of cable robots, are studied, and also, their corresponding sensitivity analysis in dynamic state and during its motion is conducted. Two sensitivity analysis algorithms are employed in this paper including differential and graphical methods, and the results are compared together. The corresponding sensitivity results are obtained using MATLAB simulation during the motion of the robot between two predefined points in an optimal closed-loop regulation process, and the results are analysed to design the cable robot in an optimal way. The correctness of the simulation results and the efficiency of the sensitivity analysis are finally verified by conducting some experimental tests on the ICaSbot cable robot.
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