Stiffness Analysis of Cable-Driven Parallel Robots

绳索并联机器人最新博士论文

StiffnessAnalysisofCable-DrivenParallelRobots

by

AmirMoradi

Athesissubmittedtothe

DepartmentofMechanicalandMaterialsEngineering

inconformitywiththerequirementsfor

thedegreeofDoctorofPhilosophy

Queen’sUniversity

Kingston,Ontario,Canada

April,2013

Copyright©AmirMoradi,2013

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绳索并联机器人最新博士论文

Abstract

Theaimofthisthesisisthesti nessanalysisofcable-drivenparallelrobots.Cable-drivenparallelrobotshavedrawnconsiderableattentionbecauseoftheiruniqueabilitiesandadvantagessuchasthelargeworkspace,lightweightofcableactuators,easydisassemblyandtransportationoftherobot.Themobileplatformofacable-drivenparallelrobotisattachedtothebasewithmultiplecables.

Oneoftheparametersthatshouldbestudiedtomakesurearobotisabletoexecuteataskaccuratelyissti nessoftherobot.Inordertoinvestigatethesti nessbehaviourofarobot,thesti nessmatrixcanbecalculatedasthe rststep.Becausecablesactintension,keepingthepositivetensionincablesbecomesachallenge.Inordertohaveafullycontrollablerobot,anactuationredundancyisneeded.Thesecomplexitiesareaddressedinthethesisandsimulations.

Inthisthesis,thecompleteformofthesti nessmatrixisconsideredwithoutneglectinganytermsincalculationofthesti ness.Somesti nessindicessuchassingle-dimensionalsti nessbasedonsti nessellipse,directionalsti nessandconditionnumberofthesti nessmatrixareintroducedandcalculatedandsti nessmapsoftherobotaredeveloped.Inaddition,theissueofunitinconsistencyincalculatingthesti nessindexisaddressed.

Oneoftheareaswhichisalsoaddressedinthisthesisisfailureanalysisbasedonthesti nessofrobot.Thee ectofthefailureinoneormorecablesormotorsismodelledandsti nessmapsaredevelopedforthefailuresituation.Itisshownthatbychangingthe

绳索并联机器人最新博士论文

anchorpositionandmobileplatformorientation,theloststi nessafterfailureofacableormotorcanberetrievedpartially.Optimumanchorpositionandmobileplatformorientationareidenti edtomaximizetheareaofthesti nessmap.

Conditionnumberofthesti nessmatrixwhilerobotisfollowingatrajectoryisopti-mized.Inaddition,whenonecablefailsduringthepathplanning,therecoveryoftherobotisstudied.Finally,theseanalysesonsti nessandfailureprovidethedesignerwiththenecessaryandvaluableinformationabouttheanchorpositionsandactuatortoques.

绳索并联机器人最新博士论文

Acknowledgements

Iwouldliketoexpressmysinceregratitudeandappreciationtowardmysupervisor,Pro-fessorRonAndersonforhiskindandnever-failingsupport.Icouldnothaveimaginedcompletingmythesiswithouthiscontinuedguidance,endlessencouragementanduniqueteachingmethods.Ithasbeenaprivilegetoworkwithhimwhichcannotbedescribedinwords.

Iwouldliketothankallgeneralsta whohelpedmeduringmystudyatQueen’sUniversity,speciallysta membersatDepartmentofMechanicalandMaterialsEngineering.

IwouldalsoliketothankmydearfriendDr.MaryamAgahiwithwhomIhadthechanceofworkinginthesamelaboratoryandhavinghelpfuldiscussionsthroughoutmyresearch.Iappreciateherpurefriendshipthroughherkindheart.ManythankstomydearfriendsspeciallymyfriendsinKingstonwhosekindsupporthasbeenmysourceofenergyandstressrelief.

Lastbutnotleast,Iwishtothankmylovelyparentsandsisterswhohavealwaysbeenatmysideevenphysicallyfaraway.Theirunconditionalloveandsupporthaveenabledmetopursuemygoalsandalsokeepcon dentandstrongduringhardships.

绳索并联机器人最新博士论文

TableofContentsAbstractAcknowledgementsTableofContents

ListofTables

ListofFigures

Notation

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