Abstract
In the field of robotics, energy consumption is a very important factor that must be considered. Plenty of research focuses on optimizing the systems design in order to maximize energy efficiency. In cable driven parallel robots, the energy required for picking up or releasing is directly related to the geometric position of the links between the cables and the final effector. This article evaluates the configuration of a cable driven parallel robot with three degrees of freedom, and a rectangular final effector. For this reason the kinematics are analyzed with a Jacobian matrix using Screws theory considering different linkage points. With the kinetic energy known it is possible to find a proper location guarantying the lowest energy consumption. All calculations are done in a MATLAB and the results are corroborated with the Adams View 2017.2 simulation software.
Original language | English |
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Title of host publication | 4th IEEE Colombian Conference on Automatic Control |
Subtitle of host publication | Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings |
Editors | Jose Garcia-Tirado, Diego Munoz-Durango, Hernan Alvarez, Hector Botero-Castro |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
ISBN (Electronic) | 9781538669624 |
DOIs | |
State | Published - Oct 2019 |
Event | 4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia Duration: 15 Oct 2019 → 18 Oct 2019 |
Publication series
Name | 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings |
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Conference
Conference | 4th IEEE Colombian Conference on Automatic Control, CCAC 2019 |
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Country/Territory | Colombia |
City | Medellin |
Period | 15/10/19 → 18/10/19 |
Bibliographical note
Publisher Copyright:© 2019 IEEE.
Keywords
- Adams View
- Cable Driven Parallel Robot
- Jacobean Matrix
- MATLAB
- Theory of Screws