Optimization Of An Underconstrained Cable Robot,s Stability in A 2Dimension Space

optimization of Stability of an underconstrained cable robot in 2 dimension space have been done. But compute of stability for a cable robot can be very difficult. In order to maximize the stability of the planar cable robot, its kinematic parameters have been optimized under existence of disturbance on the end effector. In order to the set of twists that the end-effector can undergo is camputed. With wrenches that force in end-effector we can be campute the twists of end-effector. In this measure we definition of slope for mixed-dimensional twists because is then derived using an energy-based approach to generalize measure. An example is worked out for a sample manipulator and the stability measure is used to define a measure of overall manipulator stability

کلیدواژه ها:

Optimization ، Stability Analysis ، Stability measure ، Cable robots