A Floating Cable-Driven Robotic Manipulator in a Marine Environment

Mamon Horoub; Mahir Hassan; Muhammad Hawwa

doi:10.1007/978-3-030-20131-9_286

A Floating Cable-Driven Robotic Manipulator in a Marine Environment

Mamon Horoub^*
, Mahir Hassan
, Muhammad Hawwa

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

A cable-driven platform is designed, manufactured and tested in a water tank. The platform is operated by four cables anchored to the tank corners and controlled by actuators mounted on a cylindrical floating structure. Labview based experiments are conducted on the floating cable-driven parallel manipulator to measure tensions in the cables as it moves within its workspace. The platform is analyzed, in parallel, as a three degrees of freedom system within the framework of rigid-body dynamics, taking the influence of the surrounding water on the mass, stiffness, and damping matrices. A numerical model is established to calculate the tension in the cables as a function of the platform pose. Theoretical prediction and experimental results are found to agree fairly well.

Original language	English
Pages (from-to)	2893-2906
Number of pages	14
Journal	Mechanisms and Machine Science
Volume	73
DOIs	https://doi.org/10.1007/978-3-030-20131-9_286
State	Published - 2019

Bibliographical note

Publisher Copyright:
© 2019, Springer Nature Switzerland AG.

Keywords

Cable stiffness
Dynamic analysis
Marine platforms
Robotic manipulators
Workspace

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

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10.1007/978-3-030-20131-9_286

Cite this

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title = "A Floating Cable-Driven Robotic Manipulator in a Marine Environment",

abstract = "A cable-driven platform is designed, manufactured and tested in a water tank. The platform is operated by four cables anchored to the tank corners and controlled by actuators mounted on a cylindrical floating structure. Labview based experiments are conducted on the floating cable-driven parallel manipulator to measure tensions in the cables as it moves within its workspace. The platform is analyzed, in parallel, as a three degrees of freedom system within the framework of rigid-body dynamics, taking the influence of the surrounding water on the mass, stiffness, and damping matrices. A numerical model is established to calculate the tension in the cables as a function of the platform pose. Theoretical prediction and experimental results are found to agree fairly well.",

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author = "Mamon Horoub and Mahir Hassan and Muhammad Hawwa",

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doi = "10.1007/978-3-030-20131-9\_286",

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AU - Horoub, Mamon

AU - Hassan, Mahir

AU - Hawwa, Muhammad

PY - 2019

Y1 - 2019

N2 - A cable-driven platform is designed, manufactured and tested in a water tank. The platform is operated by four cables anchored to the tank corners and controlled by actuators mounted on a cylindrical floating structure. Labview based experiments are conducted on the floating cable-driven parallel manipulator to measure tensions in the cables as it moves within its workspace. The platform is analyzed, in parallel, as a three degrees of freedom system within the framework of rigid-body dynamics, taking the influence of the surrounding water on the mass, stiffness, and damping matrices. A numerical model is established to calculate the tension in the cables as a function of the platform pose. Theoretical prediction and experimental results are found to agree fairly well.

AB - A cable-driven platform is designed, manufactured and tested in a water tank. The platform is operated by four cables anchored to the tank corners and controlled by actuators mounted on a cylindrical floating structure. Labview based experiments are conducted on the floating cable-driven parallel manipulator to measure tensions in the cables as it moves within its workspace. The platform is analyzed, in parallel, as a three degrees of freedom system within the framework of rigid-body dynamics, taking the influence of the surrounding water on the mass, stiffness, and damping matrices. A numerical model is established to calculate the tension in the cables as a function of the platform pose. Theoretical prediction and experimental results are found to agree fairly well.

KW - Cable stiffness

KW - Dynamic analysis

KW - Marine platforms

KW - Robotic manipulators

KW - Workspace

UR - https://www.scopus.com/pages/publications/85067585796

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SN - 2211-0984

VL - 73

SP - 2893

EP - 2906

JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

ER -

A Floating Cable-Driven Robotic Manipulator in a Marine Environment

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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