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Optimal Design of Cable-Driven Parallel Robots by Particle Schemes

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Neural Information Processing (ICONIP 2022)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1792))

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Abstract

Cable-driven manipulators are attractive for high payload ratio, low inertia, large workspace, and high-speed duties. The optimal attachment configuration of cable-driven robots is key to attain desirable levels of cost and performance. In this paper, we investigate the optimal configuration of a cable-driven parallel mechanism under topologically distinct tasks by using gradient-free heuristics with distinct modes of exploration and exploitation. Our computational experiments comprising the configuration of IPAnema2, a cable-driven parallel robot with eight cables and 6-DOFs, using five gradient-free particle-based optimization heuristics have shown (1) the multimodal properties of the search space, (2) niching and stagnation avoidance strategies in optimization offer competitive convergence to feasible solutions, and (3) using the cost function based on the sum of square of forces while solving the tension distribution problem leads to feasible yet not always smooth force distributions, implying the need to devise tailored objective functions considering smoothness factors in the quadratic program. Our results has the potential to explore the nature of the search space to build tailored and fast learning schemes for cable-driven mechanisms.

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Authors and Affiliations

  1. Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan

    Victor Parque & Tomoyuki Miyashita

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  1. Victor Parque
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  2. Tomoyuki Miyashita
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Correspondence to Victor Parque .

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Editors and Affiliations

  1. Indian Institute of Technology Indore, Indore, India

    Mohammad Tanveer

  2. Indian Institute of Information Technology - Allahabad, Prayagraj, India

    Sonali Agarwal

  3. Kobe University, Kobe, Japan

    Seiichi Ozawa

  4. Indian Institute of Technology Patna, Patna, India

    Asif Ekbal

  5. University of Innsbruck, Innsbruck, Austria

    Adam Jatowt

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Parque, V., Miyashita, T. (2023). Optimal Design of Cable-Driven Parallel Robots by Particle Schemes. In: Tanveer, M., Agarwal, S., Ozawa, S., Ekbal, A., Jatowt, A. (eds) Neural Information Processing. ICONIP 2022. Communications in Computer and Information Science, vol 1792. Springer, Singapore. https://doi.org/10.1007/978-981-99-1642-9_15

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  • DOI: https://doi.org/10.1007/978-981-99-1642-9_15

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  • Print ISBN: 978-981-99-1641-2

  • Online ISBN: 978-981-99-1642-9

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