In this paper, an overconstrained cable-driven parallel robot with 8 cables and 6 DOFs is used for the execution of 3D-picking tasks with high dynamics. The main objective of the manipulator is the feeding of an automatic packaging machine by picking low-weight products from a pile. In particular, here, we study the optimal geometric design of the robot platform based on its task and using a genetic algorithm.
Guagliumi L., Berti A., Monti E., Carricato M. (2022). Design Optimization of a 6-DOF Cable-Driven Parallel Robot for Complex Pick-and-Place Tasks. Cham : Springer [10.1007/978-3-031-06409-8_30].
Design Optimization of a 6-DOF Cable-Driven Parallel Robot for Complex Pick-and-Place Tasks
Guagliumi L.;Carricato M.
2022
Abstract
In this paper, an overconstrained cable-driven parallel robot with 8 cables and 6 DOFs is used for the execution of 3D-picking tasks with high dynamics. The main objective of the manipulator is the feeding of an automatic packaging machine by picking low-weight products from a pile. In particular, here, we study the optimal geometric design of the robot platform based on its task and using a genetic algorithm.File in questo prodotto:
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