Miniaturization of a Planar Cable-Driven 3D Printer using Optimization

In this paper, the wrench-feasible printable workspace is analyzed for a planar redundant cable-driven 3D printer. This workspace has a characteristic feature of maintaining cable tension within the prescribed positive tension bounds while avoiding interference of lower cables with the object being...

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Bibliographic Details
Published in2020 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) pp. 1 - 6
Main Authors Chawla, Ishan, Pathak, P M, Notash, Leila, Samantaray, A K, Li, Qingguo, Sharma, U K
Format Conference Proceeding
LanguageEnglish
Published IEEE 13.07.2020
Subjects
3D printing
cable-driven parallel robots
Interference
miniaturization
Parallel robots
parallel robots and optimization
Printers
Robots
Three-dimensional displays
Three-dimensional printing
Torque
workspace
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Summary:In this paper, the wrench-feasible printable workspace is analyzed for a planar redundant cable-driven 3D printer. This workspace has a characteristic feature of maintaining cable tension within the prescribed positive tension bounds while avoiding interference of lower cables with the object being printed for all the poses in the workspace. Furthermore, the effect of various geometric parameters on the workspace of the robot is studied. Finally, the miniaturization of a cable-driven 3D printer is achieved for a specified workspace by optimizing geometric parameters of the robot using the genetic algorithm.
DOI:10.1109/MARSS49294.2020.9307887