Design and Analysis of Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes | Zendy

Bin Zi | Zendy; Sen Qian | Zendy; Huafeng Ding | Zendy; Andrés Kecskeméthy | Zendy

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Design and Analysis of Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes

Author(s) -

Bin Zi,

Sen Qian,

Huafeng Ding,

Andrés Kecskeméthy

Publication year - 2012

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/53670

Subject(s) - workspace , computer science , kinematics , basis (linear algebra) , orientation (vector space) , parallel manipulator , simulation , control theory (sociology) , control engineering , robot , artificial intelligence , mathematics , control (management) , physics , geometry , classical mechanics , engineering

The design, dynamic modelling, and workspace are presented in this paper concerning cooperative cable parallel manipulators for multiple mobile cranes (CPMMCs). The CPMMCs can handle complex tasks that are more difficult or even impossible for a single mobile crane. Kinematics and dynamics of the CPMMCs are studied on the basis of geometric methodology and d'Alembert's principle, and a mathematical model of the CPMMCs is developed and presented with dynamic simulation. The constant orientation workspace analysis of the CPMMCs is carried out additionally. As an example, a cooperative cable parallel manipulator for triple mobile cranes with 6 Degrees of Freedom is investigated on the basis of the above design objectives

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