NDLI: Optimization of the prestress stable wrench closure workspace of planar parallel three-degree-of-freedom cable-driven mechanisms with four cables

Content Provider	IEEE Xplore Digital Library
Author	Arsenault, M.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Engineering, Royal Military College of Canada, Kingston, Ontario, Canada, K7K 7B4 (Arsenault, M.)
Abstract	There exist configurations of parallel cable-driven mechanisms (CDM) within their wrench closure workspace (WCW) for which they may become unstable when their cables are subjected to internal forces due to prestress or external loads. With the goal of avoiding such configurations, the prestress stable WCW (PSWCW) is defined as a subset of the WCW where an increase in the prestress level leads to an increase in the overall stiffness of the mechanism. A genetic algorithm is used to optimize the geometry of planar parallel CDMs with four cables with the objective of reaching a desired PSWCW. Results are obtained that may guide the designer in the preliminary selection of mechanism dimensions and cable connectivities.
Starting Page	1182
Ending Page	1187
File Size	448672
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509351
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cables Geometry Winches Bismuth Robotics and automation USA Councils Genetic algorithms Wounds Mechanical engineering Mechanical factors
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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