Study of reconfigurable suspended cable-driven parallel robots for airplane maintenance

This paper discusses the use of large-dimension reconfigurable suspended cable-driven parallel robots (CDPR) to substitute for conventional gantry nacelles that carry workers in an airplane maintenance workshop. The reconfiguration of the CDPR is considered as a multi-objective optimization problem...

Full description

Saved in:
Bibliographic Details
Published in2014 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1682 - 1689
Main Authors Dinh Quan Nguyen, Gouttefarde, Marc
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2014
Subjects
Airplanes
Linear programming
Maintenance engineering
Mobile communication
Optimization
Power cables
Vectors
Online AccessGet full text

Cover

More Information
Summary:This paper discusses the use of large-dimension reconfigurable suspended cable-driven parallel robots (CDPR) to substitute for conventional gantry nacelles that carry workers in an airplane maintenance workshop. The reconfiguration of the CDPR is considered as a multi-objective optimization problem with two performance indices. One criterion is the sum of the cable tensions which is directly related to the power consumption of the CDPR. The other criterion is the normalized upper bound on the infinitesimal displacement of the mobile platform, used here as a means to quantify the stiffness of the CDPR. A systematic procedure is proposed to find optimal reconfigurations of the CDPR while dealing efficiently with the tradeoff between these two criteria.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2014.6942781