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.

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.
ROMANSY 24 - Robot Design, Dynamics and Control. Proceedings of the 24th CISM IFToMM Symposium.
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Guagliumi L.; Berti A.; Monti E.; Carricato M.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/890497
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