Abstract
Cable-driven manipulators are traditionally designed for general performance objectives, such as maximisation of workspace. To take advantage of the reconfigurability of cable-driven mechanisms, the optimisation of cable-configurations for specific tasks is presented. Specifically, two types of task specific objectives are explored, the minimisation of cable forces over a desired trajectory and the maximisation of workspace about a desired pose. The formulation and incorporation to the optimisation problem for both task specific objectives are presented. Illustrated using a 3-DoF manipulator example, the results clearly demonstrated the advantages of optimising cable configurations for specific tasks. The potential ease of relocation in cable attachments makes task dependent reconfiguration feasible.
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© 2012 Springer-Verlag London
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Lau, D., Bhalerao, K., Oetomo, D., Halgamuge, S.K. (2012). On the Task Specific Evaluation and Optimisation of Cable-Driven Manipulators. In: Dai, J., Zoppi, M., Kong, X. (eds) Advances in Reconfigurable Mechanisms and Robots I. Springer, London. https://doi.org/10.1007/978-1-4471-4141-9_63
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DOI: https://doi.org/10.1007/978-1-4471-4141-9_63
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