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Tension-Efficient Cable-Driven Robot Design Using Particle Swarm Optimization

[+] Author Affiliations
Joshua T. Bryson

University of Delaware, Newark, DE

Sunil K. Agrawal

Columbia University, New York, NY

Paper No. DETC2015-46837, pp. V05AT08A055; 9 pages
doi:10.1115/DETC2015-46837
From:
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5712-0
  • Copyright © 2015 by ASME

abstract

Cable-driven robots have advantages which make them attractive solutions for a variety of tasks, however, the unidirectional nature of cable actuators complicates the design and often results in multiply redundant cable architectures which increase cost and robot complexity. This paper presents a stochastic optimization approach to the problem of designing a cable routing for a cable-driven manipulator to provide the desired robot workspace while minimizing the cable tensions required to perform a desired task.

Two cable routing design variants are developed for a robot leg through the application of a stochastic optimization methodology called Particle Swarm Optimization. The PSO methodology is summarized, followed by a description of the specific implementation of the methodology to the particular problem of optimizing the cable routing of a robot leg. An objective function is developed to capture all pertinent design criteria in a quantitative evaluation of each particular set of cable parameters. Finally, a description of the PSO execution is presented and the results of the two optimization problems are presented and discussed.

Copyright © 2015 by ASME

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