0

Full Content is available to subscribers

Subscribe/Learn More  >

Design Optimization of a Warehousing Cable-Based Robot

[+] Author Affiliations
Sergio Torres-Mendez, Amir Khajepour

University of Waterloo, Waterloo, ON, Canada

Paper No. DETC2014-34672, pp. V05AT08A091; 9 pages
doi:10.1115/DETC2014-34672
From:
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME

abstract

The optimal architecture of a cable-based robot for warehousing applications is the main topic of this paper. This study is limited to two types of redundant planar symmetrical configurations with crossed and non-crossed cables. The design problem is divided in two main stages. First, the feasible workspace is optimized for a maximum size and rectangular-type shape of each of the redundant planar architectures. A set of four parameters is selected to fully define the geometry of the mobile platform and the location of its anchor points. In the second design stage, an optimized spatial architecture is obtained for a maximum stiffness by selecting a new set of six parameters which defines the transversal anchor points on both the mobile and static platforms. Based on these optimal parameters, a prototype is fully modeled and built for further experimentation.

Copyright © 2014 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In