Study the effect of changing Cables’ pattern on the workspace of a six DOF floating parallel marine robot (FPMR)

Study the effect of changing Cables’ pattern on the workspace of a six DOF floating parallel marine robot (FPMR)

In this study, a Floating Parallel Marine Robot (FPMR) is studied while it is subjected to external forces generated by the sea waves. Two FPMR cable-bundles’ configurations are used. The 6–6 Stewart-Gough parallel manipulator configuration is compared with a new cable-bundles’ configuration called...

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Bibliographic Details
Main Authors: Mamon M. Horoub, Ayman M.A. Horoub, Sikandar Khan, Ahmad Albalasie, Sajid Ali, Ihab Abu Ajamieh, Ammar Alzaydi
Format: Article
Language:English
Published: Elsevier 2023-02-01
Series:Alexandria Engineering Journal
Subjects:
Dynamic response
Workspace
Floating Parallel Marine Robot
Stewart-Gough parallel manipulator
6–6 and 6–3-3 FPMR
Online Access:http://www.sciencedirect.com/science/article/pii/S1110016822005750
Description
Summary:In this study, a Floating Parallel Marine Robot (FPMR) is studied while it is subjected to external forces generated by the sea waves. Two FPMR cable-bundles’ configurations are used. The 6–6 Stewart-Gough parallel manipulator configuration is compared with a new cable-bundles’ configuration called 6–3-3 FPMR. The effect of changing cable-bundles’ configuration is explored to enhance the workspace and the dynamic behavior of the FPMR. This study is performed using six DOFs FPMR having twelve cables i.e. 6 bundles. Over the FPMR workspace, the dynamic response and platform stiffness are investigated. The workspace and the dynamic analysis of FPMR are enhanced using the new 6–3-3 cable-bundles’ configuration.
ISSN:1110-0168

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